80 lines
2.8 KiB
C++
Executable File
80 lines
2.8 KiB
C++
Executable File
//
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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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#include "Mesh.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 : public Mesh {
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private:
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Point4D _findFurthestPoint(const Point4D& direction);
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Point4D _support(std::shared_ptr<RigidBody> obj, const Point4D& direction);
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std::function<void(const std::string&, std::shared_ptr<RigidBody>)> _collisionCallBack;
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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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protected:
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Point4D _velocity;
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Point4D _acceleration;
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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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public:
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RigidBody() = default;
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explicit RigidBody(const Mesh& mesh);
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std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
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CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
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[[nodiscard]] Point4D 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 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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void updatePhysicsState();
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void setVelocity(const Point4D& velocity);
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void addVelocity(const Point4D& velocity);
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void setAcceleration(const Point4D& acceleration);
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[[nodiscard]] Point4D velocity() const { return _velocity; }
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[[nodiscard]] Point4D 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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};
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#endif //INC_3DZAVR_RIGIDBODY_H
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