91 lines
3.2 KiB
C++
91 lines
3.2 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 <functional>
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#include "../Triangle.h"
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#include "Simplex.h"
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#include "../Mesh.h"
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struct CollisionPoint {
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const Vec3D normal;
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const double depth;
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};
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struct FaceNormal {
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const Vec3D normal;
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const double distance;
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};
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struct NextSimplex {
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const Simplex newSimplex;
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const Vec3D newDirection;
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const bool finishSearching;
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};
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class RigidBody : public Mesh {
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private:
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Vec3D _findFurthestPoint(const Vec3D& direction);
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Vec3D _support(std::shared_ptr<RigidBody> obj, const Vec3D& direction);
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std::function<void(const std::string&, std::shared_ptr<RigidBody>)> _collisionCallBack;
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static NextSimplex _nextSimplex(const Simplex& points);
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static NextSimplex _lineCase(const Simplex& points);
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static NextSimplex _triangleCase(const Simplex& points);
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static NextSimplex _tetrahedronCase(const Simplex& points);
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static std::pair<std::vector<std::shared_ptr<FaceNormal>>, size_t> _getFaceNormals(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
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static std::vector<std::pair<size_t, size_t>> _addIfUniqueEdge(const 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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static void makeLogObjPolytope(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
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protected:
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std::unique_ptr<Vec3D> _velocity = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
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std::unique_ptr<Vec3D> _acceleration = std::make_unique<Vec3D>(Vec3D{0, 0, 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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std::shared_ptr<Vec3D> _collisionNormal = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
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public:
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RigidBody() = default;
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explicit RigidBody(const Mesh& mesh);
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[[nodiscard]] std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
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[[nodiscard]] CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
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void solveCollision(const CollisionPoint& collision);
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[[nodiscard]] Vec3D collisionNormal() const { return *_collisionNormal; }
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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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void setInCollision(bool c) { _inCollision = 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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void updatePhysicsState();
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void setVelocity(const Vec3D& velocity);
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void addVelocity(const Vec3D& velocity);
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void setAcceleration(const Vec3D& acceleration);
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[[nodiscard]] Vec3D velocity() const { return *_velocity; }
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[[nodiscard]] Vec3D acceleration() const { return *_acceleration; }
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[[nodiscard]] const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& collisionCallBack() const { return _collisionCallBack; }
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void setCollisionCallBack(const std::function<void(const std::string&, std::shared_ptr<RigidBody>)>& f) { _collisionCallBack = f; }
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~RigidBody() override = default;
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};
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#endif //INC_3DZAVR_RIGIDBODY_H
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