Justin Marshall
133 lines
4.7 KiB
C++
133 lines
4.7 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 "idlib/math/random.h"
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#include <cstdint>
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class idPhysics_RigidBody3DOF : public idPhysics_DynamicBase {
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public:
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struct bodyIntState_t {
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idVec3 position;
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idMat3 orientation;
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idVec3 linearVelocity;
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idVec3 angularVelocity;
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};
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struct bodyState_t {
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int atRest;
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float lastTimeStep;
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idVec3 localOrigin;
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idMat3 localAxis;
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idVec3 linearPushVelocity;
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idVec3 angularPushVelocity;
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idVec3 externalForce;
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bodyIntState_t i;
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bodyState_t();
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};
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struct simpleBodyFlags_t {
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std::uint8_t reserved : 3;
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std::uint8_t noImpact : 1;
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std::uint8_t isOriented : 1;
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std::uint8_t hasMaster : 1;
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std::uint8_t testSolid : 1;
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std::uint8_t dropToFloor : 1;
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};
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idPhysics_RigidBody3DOF();
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~idPhysics_RigidBody3DOF() 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 ClipTranslation(trace_t*, const idVec3*, const idClipModel*) 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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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 SetCoefficientOfRestitution(float coefficient);
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void Integrate(float deltaTime, const bodyState_t& current,
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bodyState_t& next) const;
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bool CheckForCollisions(const bodyState_t& current,
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bodyState_t& next, trace_t& collision);
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bool CollisionImpulse(const trace_t& collision, float timeStep,
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bodyState_t& state, idVec3& impulse);
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idClipModel* clipModel;
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float mass;
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float inverseMass;
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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 coefficientOfRestitution;
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bodyState_t current;
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bodyState_t saved;
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idRandom random;
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idClipQuery translationQuery;
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simpleBodyFlags_t flags;
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};
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static_assert(sizeof(idPhysics_RigidBody3DOF::bodyIntState_t) == 72,
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"Recovered 3DOF integration state ABI changed");
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static_assert(sizeof(idPhysics_RigidBody3DOF::bodyState_t) == 164,
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"Recovered 3DOF body state ABI changed");
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static_assert(sizeof(idPhysics_RigidBody3DOF::simpleBodyFlags_t) == 1,
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"Recovered 3DOF flags ABI changed");
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#if defined(_WIN32) && !defined(_WIN64)
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static_assert(sizeof(idPhysics_RigidBody3DOF) == 504,
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"Recovered idPhysics_RigidBody3DOF ABI changed");
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#endif
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