Justin Marshall
131 lines
4.5 KiB
C++
131 lines
4.5 KiB
C++
#pragma once
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#include "gamelib/physics/clip.h"
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#include "gamelib/physics/physics_dynamicbase.h"
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#include <cstdint>
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struct rigidBodyPState_t {
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int atRest;
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idVec3 localOrigin;
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idMat3 localAxis;
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idVec3 worldOrigin;
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idMat3 worldAxis;
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idVec6 spatialVelocity;
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idVec6 externalForce;
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idVec6 pushVelocity;
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};
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class idPhysics_RigidBody : public idPhysics_DynamicBase {
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public:
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struct rigidBodyFlags_t {
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int noPushMask;
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std::uint8_t reserved : 3;
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std::uint8_t isOrientated : 1;
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std::uint8_t hasMaster : 1;
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std::uint8_t noImpact : 1;
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std::uint8_t testSolid : 1;
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std::uint8_t dropToFloor : 1;
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std::uint8_t pad[3];
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};
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idPhysics_RigidBody();
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~idPhysics_RigidBody() override;
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void SetClipModel(idClipModel*, float, int, bool) override;
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idClipModel* GetClipModel(int) override;
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int GetNumClipModels() override;
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void SetMass(float, int) override;
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float GetMass(int) override;
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void SetContents(int, int) override;
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int GetContents(int) override;
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const idBounds* GetBounds(int) override;
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const idBounds* GetAbsBounds(int) override;
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void SetOrigin(const idVec3*, int) override;
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void SetAxis(const idMat3*, int) override;
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void Translate(const idVec3*, int) override;
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void Rotate(const idRotation*, int) override;
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const idVec3* GetOrigin(int) override;
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const idMat3* GetAxis(int) override;
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const idVec3* GetLocalOrigin(int) override;
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const idMat3* GetLocalAxis(int) override;
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void SetLinearVelocity(const idVec3*, int) override;
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void SetAngularVelocity(const idVec3*, int) override;
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idVec3* GetLinearVelocity(idVec3*, int) override;
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idVec3* GetAngularVelocity(idVec3*, int) override;
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void SetWaterEntNum(int) override;
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int GetWaterEntNum() override;
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void SetWaterSurfaceWrldHeight(float) override;
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float GetWaterSurfaceWrldHeight() override;
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void GetImpactInfo(int, const idVec3*, impactInfo_t*) override;
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void ApplyImpulse(int, const idVec3*, const idVec3*) override;
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void ApplyForce(int, const idVec3*, const idVec3*) override;
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void Activate() override;
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void PutToRest() override;
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bool IsAtRest() override;
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bool IsPushable(int) override;
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void SaveState() override;
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void RestoreState() override;
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bool Evaluate(int, int) override;
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void UpdateTime(int) override;
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void ClipRotation(trace_t*, const idRotation*, const idClipModel*) override;
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int ClipContents(const idClipModel*, int) override;
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void DisableClip() override;
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void EnableClip() override;
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void UnlinkClip() override;
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void LinkClip() override;
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bool EvaluateContacts() override;
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bool IsGroundClipModel(int, int) override;
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void SetPushed(int) override;
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idVec3* GetPushedLinearVelocity(idVec3*, int) override;
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idVec3* GetPushedAngularVelocity(idVec3*, int) override;
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void SetMaster(bool, const idVec3*, const idMat3*, bindFlags_t) override;
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void SetLocalOrigin(const idVec3*, int) override;
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void SetLocalAxis(const idMat3*, int) override;
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int GetBlockingEntityNum() override;
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int GetLinearEndTime() override;
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int GetAngularEndTime() override;
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bool IsOutsideWorld() override;
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void SetFriction(float linear, float angular, float contact);
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void SetWaterFriction(float linear, float angular);
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void SetBouncyness(float bouncyness_);
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void SetInertiaScale(const idVec3& scale);
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void CapVelocity();
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bool TestIfAtRest();
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void Evolve(float timeStep, trace_t* collision = nullptr,
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contactsResult_t* contacts = nullptr);
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void ResolveCollisions(const trace_t* collision = nullptr,
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const contactsResult_t* contacts = nullptr);
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void DropToFloorAndRest();
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idClipModel* clipModel;
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float linearFriction;
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float angularFriction;
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float contactFriction;
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float linearFrictionWater;
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float angularFrictionWater;
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float bouncyness;
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idVec3 inertiaScale;
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float mass;
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float inverseMass;
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idVec3 centerOfMass;
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idMat3 inertiaTensor;
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idMat3 inverseInertiaTensor;
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rigidBodyFlags_t fl;
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rigidBodyPState_t current;
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rigidBodyPState_t saved;
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idClipQuery motionQuery;
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float lastTimeStep;
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};
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static_assert(sizeof(rigidBodyPState_t) == 172,
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"Recovered rigid-body state ABI changed");
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static_assert(sizeof(idPhysics_RigidBody::rigidBodyFlags_t) == 8,
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"Recovered rigid-body flags ABI changed");
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#if defined(_WIN32) && !defined(_WIN64)
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static_assert(sizeof(idPhysics_RigidBody) == 624,
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"Recovered idPhysics_RigidBody ABI changed");
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#endif
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