102 lines
2.6 KiB
C++
102 lines
2.6 KiB
C++
#ifndef OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
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#define OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
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#include "..\PhysicsAPI.h"
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#include <btBulletDynamicsCommon.h>
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namespace Oyster
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{
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namespace Physics
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{
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class SimpleRigidBody : public ICustomBody
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{
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public:
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SimpleRigidBody();
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virtual ~SimpleRigidBody();
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State GetState() const;
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State& GetState( State &targetMem ) const;
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void SetState( const State &state );
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void ApplyImpulse(Math::Float3 impulse);
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void SetSubscription(EventAction_AfterCollisionResponse function);
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void SetSubscription(EventAction_Move function);
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void SetLinearVelocity(Math::Float3 velocity);
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void SetPosition(Math::Float3 position);
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void SetRotation(Math::Float4 quaternion);
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void SetRotation(Math::Quaternion quaternion);
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void SetRotation(Math::Float3 eulerAngles);
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void SetRotation(::Oyster::Math::Float4x4 rotation);
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void SetRotationAsAngularAxis(Math::Float4 angularAxis);
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void SetAngularFactor(Math::Float factor);
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void SetMass(Math::Float mass);
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void SetGravity(Math::Float3 gravity);
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void SetUpAndRight(Math::Float3 up, Math::Float3 right);
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void SetUpAndForward(Math::Float3 up, Math::Float3 forward);
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void SetUp(Math::Float3 up);
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Math::Float4x4 GetRotation() const;
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Math::Float4 GetRotationAsAngularAxis();
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Math::Float4x4 GetOrientation() const;
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Math::Float4x4 GetView() const;
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Math::Float4x4 GetView( const Math::Float3 &offset ) const;
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Math::Float3 GetGravity() const;
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::Oyster::Math::Float3 GetLinearVelocity() const;
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void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
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void CallSubscription_Move();
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btCollisionShape* GetCollisionShape() const;
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btDefaultMotionState* GetMotionState() const;
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btRigidBody* GetRigidBody() const;
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void SetCustomTag( void *ref );
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void* GetCustomTag() const;
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// Class specific
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void SetCollisionShape(btCollisionShape* shape);
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void SetMotionState(btDefaultMotionState* motionState);
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void SetRigidBody(btRigidBody* rigidBody);
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void SetPreviousVelocity(Math::Float3 velocity);
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void PreStep(const btCollisionWorld* collisionWorld);
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float GetLambda() const;
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void MoveToLimbo();
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void ReleaseFromLimbo();
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private:
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btCollisionShape* collisionShape;
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btDefaultMotionState* motionState;
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btRigidBody* rigidBody;
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Struct::CustomBodyState state;
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EventAction_AfterCollisionResponse afterCollision;
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EventAction_Move onMovement;
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void *customTag;
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Math::Float3 gravity;
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btVector3 raySource[2];
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btVector3 rayTarget[2];
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btScalar rayLambda[2];
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int collisionFlags;
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};
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}
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}
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#endif |