reactphysics3d/include/reactphysics3d/body/RigidBody.h
2022-01-01 01:14:49 +01:00

267 lines
11 KiB
C++

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2022 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef REACTPHYSICS3D_RIGID_BODY_H
#define REACTPHYSICS3D_RIGID_BODY_H
// Libraries
#include <cassert>
#include <reactphysics3d/body/CollisionBody.h>
#include <reactphysics3d/mathematics/mathematics.h>
/// Namespace reactphysics3d
namespace reactphysics3d {
// Class declarations
struct JointListElement;
class PhysicsWorld;
class MemoryManager;
enum class BodyType;
// Class RigidBody
/**
* This class represents a rigid body of the physics
* engine. A rigid body is a non-deformable body that
* has a constant mass. This class inherits from the
* CollisionBody class.
*/
class RigidBody : public CollisionBody {
protected :
// -------------------- Methods -------------------- //
/// Update whether the current overlapping pairs where this body is involed are active or not
void resetOverlappingPairs();
/// Compute and return the local-space center of mass of the body using its colliders
Vector3 computeCenterOfMass() const;
/// Compute the local-space inertia tensor and total mass of the body using its colliders
void computeMassAndInertiaTensorLocal(Vector3& inertiaTensorLocal, decimal& totalMass) const;
/// Compute the inverse of the inertia tensor in world coordinates.
static void computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld);
public :
// -------------------- Methods -------------------- //
/// Constructor
RigidBody(PhysicsWorld& world, Entity entity);
/// Destructor
virtual ~RigidBody() override = default;
/// Deleted copy-constructor
RigidBody(const RigidBody& body) = delete;
/// Deleted assignment operator
RigidBody& operator=(const RigidBody& body) = delete;
/// Set the current position and orientation
virtual void setTransform(const Transform& transform) override;
/// Return the mass of the body
decimal getMass() const;
/// Set the mass of the rigid body
void setMass(decimal mass);
/// Return the linear velocity
Vector3 getLinearVelocity() const;
/// Set the linear velocity of the body.
void setLinearVelocity(const Vector3& linearVelocity);
/// Return the angular velocity
Vector3 getAngularVelocity() const;
/// Set the angular velocity.
void setAngularVelocity(const Vector3& angularVelocity);
/// Return the local inertia tensor of the body (in body coordinates)
const Vector3& getLocalInertiaTensor() const;
/// Set the local inertia tensor of the body (in body coordinates)
void setLocalInertiaTensor(const Vector3& inertiaTensorLocal);
/// Return the center of mass of the body (in local-space coordinates)
const Vector3& getLocalCenterOfMass() const;
/// Set the center of mass of the body (in local-space coordinates)
void setLocalCenterOfMass(const Vector3& centerOfMass);
/// Compute and set the local-space center of mass of the body using its colliders
void updateLocalCenterOfMassFromColliders();
/// Compute and set the local-space inertia tensor of the body using its colliders
void updateLocalInertiaTensorFromColliders();
/// Compute and set the mass of the body using its colliders
void updateMassFromColliders();
/// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders
void updateMassPropertiesFromColliders();
/// Return the type of the body
BodyType getType() const;
/// Set the type of the body
void setType(BodyType type);
/// Return true if the gravity needs to be applied to this rigid body
bool isGravityEnabled() const;
/// Set the variable to know if the gravity is applied to this rigid body
void enableGravity(bool isEnabled);
/// Set the variable to know whether or not the body is sleeping
void setIsSleeping(bool isSleeping);
/// Return the linear velocity damping factor
decimal getLinearDamping() const;
/// Set the linear damping factor
void setLinearDamping(decimal linearDamping);
/// Return the angular velocity damping factor
decimal getAngularDamping() const;
/// Set the angular damping factor
void setAngularDamping(decimal angularDamping);
/// Return the lock translation factor
const Vector3& getLinearLockAxisFactor() const;
/// Set the linear lock factor
void setLinearLockAxisFactor(const Vector3& linearLockAxisFactor) const;
/// Return the lock rotation factor
const Vector3& getAngularLockAxisFactor() const;
/// Set the lock rotation factor
void setAngularLockAxisFactor(const Vector3& angularLockAxisFactor) const;
/// Manually apply an external force (in local-space) to the body at its center of mass.
void applyLocalForceAtCenterOfMass(const Vector3& force);
/// Manually apply an external force (in world-space) to the body at its center of mass.
void applyWorldForceAtCenterOfMass(const Vector3& force);
/// Manually apply an external force (in local-space) to the body at a given point (in local-space).
void applyLocalForceAtLocalPosition(const Vector3& force, const Vector3& point);
/// Manually apply an external force (in world-space) to the body at a given point (in local-space).
void applyWorldForceAtLocalPosition(const Vector3& force, const Vector3& point);
/// Manually apply an external force (in local-space) to the body at a given point (in world-space).
void applyLocalForceAtWorldPosition(const Vector3& force, const Vector3& point);
/// Manually apply an external force (in world-space) to the body at a given point (in world-space).
void applyWorldForceAtWorldPosition(const Vector3& force, const Vector3& point);
/// Manually apply an external torque to the body (in world-space).
void applyWorldTorque(const Vector3& torque);
/// Manually apply an external torque to the body (in local-space).
void applyLocalTorque(const Vector3& torque);
/// Reset the manually applied force to zero
void resetForce();
/// Reset the manually applied torque to zero
void resetTorque();
/// Return the total manually applied force on the body (in world-space)
const Vector3& getForce() const;
/// Return the total manually applied torque on the body (in world-space)
const Vector3& getTorque() const;
/// Return whether or not the body is allowed to sleep
bool isAllowedToSleep() const;
/// Set whether or not the body is allowed to go to sleep
void setIsAllowedToSleep(bool isAllowedToSleep);
/// Return whether or not the body is sleeping
bool isSleeping() const;
/// Set whether or not the body is active
virtual void setIsActive(bool isActive) override;
/// Create a new collider and add it to the body
virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform) override;
/// Remove a collider from the body
virtual void removeCollider(Collider* collider) override;
#ifdef IS_RP3D_PROFILING_ENABLED
/// Set the profiler
void setProfiler(Profiler* profiler) override;
#endif
// -------------------- Friendship -------------------- //
friend class PhysicsWorld;
friend class ContactSolverSystem;
friend class DynamicsSystem;
friend class BallAndSocketJoint;
friend class SliderJoint;
friend class HingeJoint;
friend class FixedJoint;
friend class SolveBallAndSocketJointSystem;
friend class SolveFixedJointSystem;
friend class SolveHingeJointSystem;
friend class SolveSliderJointSystem;
friend class Joint;
friend class Collider;
};
/// Compute the inverse of the inertia tensor in world coordinates.
RP3D_FORCE_INLINE void RigidBody::computeWorldInertiaTensorInverse(const Matrix3x3& orientation, const Vector3& inverseInertiaTensorLocal, Matrix3x3& outInverseInertiaTensorWorld) {
outInverseInertiaTensorWorld[0][0] = orientation[0][0] * inverseInertiaTensorLocal.x;
outInverseInertiaTensorWorld[0][1] = orientation[1][0] * inverseInertiaTensorLocal.x;
outInverseInertiaTensorWorld[0][2] = orientation[2][0] * inverseInertiaTensorLocal.x;
outInverseInertiaTensorWorld[1][0] = orientation[0][1] * inverseInertiaTensorLocal.y;
outInverseInertiaTensorWorld[1][1] = orientation[1][1] * inverseInertiaTensorLocal.y;
outInverseInertiaTensorWorld[1][2] = orientation[2][1] * inverseInertiaTensorLocal.y;
outInverseInertiaTensorWorld[2][0] = orientation[0][2] * inverseInertiaTensorLocal.z;
outInverseInertiaTensorWorld[2][1] = orientation[1][2] * inverseInertiaTensorLocal.z;
outInverseInertiaTensorWorld[2][2] = orientation[2][2] * inverseInertiaTensorLocal.z;
outInverseInertiaTensorWorld = orientation * outInverseInertiaTensorWorld;
}
}
#endif