Justin Marshall
107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
#pragma once
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#include "cm/jobs/collisionquery.h"
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#include "idlib/containers/list.h"
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#include "idlib/math/spatialmat.h"
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#include "idlib/text/atomicstring.h"
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#ifndef ID_CLIP_QUERY_DEFINED
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#define ID_CLIP_QUERY_DEFINED
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struct idClipQuery { std::uint64_t index; };
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#endif
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class idAFConstraint;
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class idAFTree;
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class idClipModel;
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class idSerializer;
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struct AFBodyPState_t {
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idVec3 worldOrigin;
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idMat3 worldAxis;
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idVec3 atRestOrigin;
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idMat3 atRestAxis;
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idVec6 spatialVelocity;
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idVec6 externalForce;
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};
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class alignas(16) idAFBody {
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public:
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struct afBodyFlags_t {
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std::uint8_t clearClipMaskInSolid : 1;
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std::uint8_t noSyncCollide : 1;
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std::uint8_t isZero : 1;
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std::uint8_t useContactMotorDir : 1;
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std::uint8_t useFrictionDir : 1;
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std::uint8_t spatialInertiaSparse : 1;
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std::uint8_t selfCollision : 1;
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std::uint8_t clipMaskSet : 1;
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};
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idAFBody();
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idAFBody(const char* name, idClipModel* clipModel, float density);
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virtual ~idAFBody();
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virtual void Serialize(idSerializer* serializer);
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void Init();
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void SetClipModel(idClipModel* model);
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void SetBouncyness(float bounce);
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void SetFriction(float linear, float angular, float contact);
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void SetDensity(float density, const idMat3& inertiaScale);
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void SetFrictionDirection(const idVec3& direction);
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bool GetFrictionDirection(idVec3& direction) const;
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void SetContactMotorDirection(const idVec3& direction);
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bool GetContactMotorDirection(idVec3& direction) const;
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idVec3 GetPointVelocity(const idVec3& point) const;
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void AddForce(const idVec3& point, const idVec3& force);
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alignas(16) idAtomicString name;
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idClipModel* clipModel;
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int clipMask;
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float linearFrictionWater;
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float angularFrictionWater;
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float linearFriction;
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float angularFriction;
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float contactFriction;
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float bouncyness;
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idVec3 frictionDir;
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idVec3 contactMotorDir;
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float contactMotorVelocity;
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float contactMotorForce;
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float mass;
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float invMass;
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idVec3 centerOfMass;
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idMat3 inertiaTensor;
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idMat3 inverseInertiaTensor;
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idAFBody* parent;
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idList<idAFBody*, 71> children;
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idAFConstraint* primaryConstraint;
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idList<idAFConstraint*, 71> constraints;
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idAFTree* tree;
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afBodyFlags_t fl;
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AFBodyPState_t current;
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AFBodyPState_t saved;
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idClipQuery motionQuery;
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idSpatialMat inverseWorldSpatialInertia;
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idSpatialMat I;
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idSpatialMat invI;
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idSpatialMat J;
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idStaticSpatialVec s;
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idStaticSpatialVec totalForce;
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idStaticSpatialVec auxForce;
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idStaticSpatialVec acceleration;
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float* response;
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int* responseIndex;
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int numResponses;
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int maxAuxiliaryIndex;
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int maxSubTreeAuxiliaryIndex;
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};
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static_assert(sizeof(AFBodyPState_t) == 144,
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"Recovered articulated-body state ABI changed");
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static_assert(sizeof(idAFBody::afBodyFlags_t) == 1,
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"Recovered articulated-body flags ABI changed");
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#if defined(_WIN32) && !defined(_WIN64)
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static_assert(sizeof(idAFBody) == 816,
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"Recovered idAFBody ABI changed");
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#endif
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