89 lines
2.8 KiB
C
89 lines
2.8 KiB
C
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// Created by Иван Ильин on 05.02.2021.
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//
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#ifndef ENGINE_RIGIDBODY_H
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#define ENGINE_RIGIDBODY_H
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#include <vector>
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#include <memory>
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#include "../utils/Point4D.h"
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#include "../Triangle.h"
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#include "Simplex.h"
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struct CollisionPoint {
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Point4D a; // Furthest point of a into b
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Point4D b; // Furthest point of b into a
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Point4D normal; // b – a normalized
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double depth; // Length of b – a
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bool hasCollision;
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};
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class RigidBody {
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protected:
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Point4D p_velocity;
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Point4D p_acceleration;
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Point4D p_angularVelocity;
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Point4D p_angularAcceleration;
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double _mass = 1.0;
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bool _collision = false;
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bool _isCollider = true;
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bool _inCollision = false;
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Point4D _collisionNormal;
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Point4D _findFurthestPoint(const Point4D& direction);
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Point4D _support(const std::shared_ptr<RigidBody>& obj, const Point4D& direction);
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static bool _nextSimplex(Simplex& points, Point4D& direction);
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static bool _line(Simplex& points, Point4D& direction);
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static bool _triangle(Simplex& points, Point4D& direction);
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static bool _tetrahedron(Simplex& points, Point4D& direction);
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static std::pair<std::vector<Point4D>, size_t> GetFaceNormals(const std::vector<Point4D>& polytope, const std::vector<size_t>& faces);
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static void AddIfUniqueEdge(std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
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public:
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RigidBody() = default;
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virtual ~RigidBody() = default;
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std::pair<bool, Simplex> checkGJKCollision(const std::shared_ptr<RigidBody>& obj);
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CollisionPoint EPA(const Simplex& simplex, const std::shared_ptr<RigidBody>& obj);
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[[nodiscard]] bool isCollision() const { return _collision; }
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[[nodiscard]] bool inCollision() const {return _inCollision; }
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[[nodiscard]] bool isCollider() const {return _isCollider; }
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[[nodiscard]] Point4D collisionNormal() const {return _collisionNormal; }
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void setInCollision(bool c) { _inCollision = c; }
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void setCollisionNormal(const Point4D& c) { _collisionNormal = c; }
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void setCollision(bool c) { _collision= c; }
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void setCollider(bool c) { _isCollider = c; }
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[[nodiscard]] virtual std::vector<Triangle>& triangles() = 0;
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[[nodiscard]] virtual Point4D position() const = 0;
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virtual void translate(const Point4D& dv) = 0;
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virtual void rotate(const Point4D& r) = 0;
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void updatePhysicsState();
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void setVelocity(const Point4D& velocity);
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void setAngularVelocity(const Point4D& angularVelocity);
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void addVelocity(const Point4D& velocity);
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void setAcceleration(const Point4D& acceleration);
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void setAngularAcceleration(const Point4D& angularAcceleration);
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[[nodiscard]] Point4D velocity() const { return p_velocity; }
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[[nodiscard]] double mass() const { return _mass; }
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void setMass(double val) { _mass = val; }
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};
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#endif //INC_3DZAVR_RIGIDBODY_H
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