Danbias/Code/GamePhysics/PhysicsStructs.h

#ifndef PHYSICS_STRUCTS_H
#define PHYSICS_STRUCTS_H

#include "OysterMath.h"
#include "PhysicsAPI.h"

namespace Oyster { namespace Physics
{
	namespace Struct
	{
		struct SimpleBodyDescription
		{
			::Oyster::Math::Float4x4 rotation;
			::Oyster::Math::Float4 centerPosition;
			::Oyster::Math::Float4 size;
			::Oyster::Math::Float mass;
			::Oyster::Math::Float4x4 inertiaTensor;
			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
			bool ignoreGravity;

			SimpleBodyDescription();
		};

		struct SphericalBodyDescription
		{
			::Oyster::Math::Float4x4 rotation;
			::Oyster::Math::Float4 centerPosition;
			::Oyster::Math::Float radius;
			::Oyster::Math::Float mass;
			::Oyster::Physics::ICustomBody::EventAction_Collision subscription;
			bool ignoreGravity;

			SphericalBodyDescription();
		};

		struct CustomBodyState
		{
		public:
			CustomBodyState( ::Oyster::Math::Float mass						= 1.0f,
							 ::Oyster::Math::Float restitutionCoeff			= 1.0f,
							 ::Oyster::Math::Float staticFrictionCoeff		= 1.0f,
							 ::Oyster::Math::Float kineticFrictionCoeff		= 1.0f,
							 const ::Oyster::Math::Float4x4 &inertiaTensor	= ::Oyster::Math::Float4x4::identity,
							 const ::Oyster::Math::Float4 &reach			= ::Oyster::Math::Float4::null,
							 const ::Oyster::Math::Float4 &centerPos		= ::Oyster::Math::Float4::standard_unit_w,
							 const ::Oyster::Math::Float4 &rotation			= ::Oyster::Math::Float4::null,
							 const ::Oyster::Math::Float4 &linearMomentum	= ::Oyster::Math::Float4::null,
							 const ::Oyster::Math::Float4 &angularMomentum	= ::Oyster::Math::Float4::null );

			CustomBodyState & operator = ( const CustomBodyState &state );

			const ::Oyster::Math::Float		 GetMass() const;
			const ::Oyster::Math::Float		 GetRestitutionCoeff() const;
			const ::Oyster::Math::Float		 GetFrictionCoeff_Static() const;
			const ::Oyster::Math::Float		 GetFrictionCoeff_Kinetic() const;
			const ::Oyster::Math::Float4x4 & GetMomentOfInertia() const;
			const ::Oyster::Math::Float4 &	 GetReach() const;
				  ::Oyster::Math::Float4	 GetSize() const;
			const ::Oyster::Math::Float4 &	 GetCenterPosition() const;
			const ::Oyster::Math::Float4 &	 GetAngularAxis() const;
				  ::Oyster::Math::Float4x4	 GetRotation() const;
				  ::Oyster::Math::Float4x4	 GetOrientation() const;
				  ::Oyster::Math::Float4x4	 GetView() const;
			const ::Oyster::Math::Float4 &	 GetLinearMomentum() const;
				  ::Oyster::Math::Float4	 GetLinearMomentum( const ::Oyster::Math::Float4 &at ) const;
			const ::Oyster::Math::Float4 &	 GetAngularMomentum() const;
			const ::Oyster::Math::Float4 &	 GetLinearImpulse() const;
			const ::Oyster::Math::Float4 &	 GetAngularImpulse() const;
			
			void SetMass_KeepMomentum( ::Oyster::Math::Float m );
			void SetMass_KeepVelocity( ::Oyster::Math::Float m );
			void SetRestitutionCoeff( ::Oyster::Math::Float e );
			void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
			void SetMomentOfInertia_KeepMomentum( const ::Oyster::Math::Float4x4 &tensor );
			void SetMomentOfInertia_KeepVelocity( const ::Oyster::Math::Float4x4 &tensor );
			void SetSize( const ::Oyster::Math::Float4 &size );
			void SetReach( const ::Oyster::Math::Float4 &halfSize );
			void SetCenterPosition( const ::Oyster::Math::Float4 &centerPos );
			void SetRotation( const ::Oyster::Math::Float4 &angularAxis );
			void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
			void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
			void SetLinearMomentum( const ::Oyster::Math::Float4 &g );
			void SetAngularMomentum( const ::Oyster::Math::Float4 &h );
			void SetLinearImpulse( const ::Oyster::Math::Float4 &j );
			void SetAngularImpulse( const ::Oyster::Math::Float4 &j );

			void AddRotation( const ::Oyster::Math::Float4 &angularAxis );
			void AddTranslation( const ::Oyster::Math::Float4 &deltaPos );

			void ApplyLinearImpulse( const ::Oyster::Math::Float4 &j );
			void ApplyAngularImpulse( const ::Oyster::Math::Float4 &j );
			void ApplyImpulse( const ::Oyster::Math::Float4 &j, const ::Oyster::Math::Float4 &at, const ::Oyster::Math::Float4 &normal );

			bool IsSpatiallyAltered() const;
			bool IsDisturbed() const;

		private:
			::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
			::Oyster::Math::Float4x4 inertiaTensor;
			::Oyster::Math::Float4 reach, centerPos, angularAxis;
			::Oyster::Math::Float4 linearMomentum, angularMomentum;
			::Oyster::Math::Float4 linearImpulse, angularImpulse;

			bool isSpatiallyAltered, isDisturbed;
		};
	}
} }

#include "PhysicsStructs-Impl.h"

#endif