crown-engine/engine/physics/Actor.h

/*
Copyright (c) 2013 Daniele Bartolini, Michele Rossi
Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto

Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following
conditions:

The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
*/

#pragma once

#include "Types.h"
#include "PhysicsTypes.h"
#include "Vector3.h"
#include "Matrix4x4.h"
#include "Quaternion.h"

#include "PxPhysics.h"
#include "PxScene.h"
#include "PxRigidActor.h"

using physx::PxRigidActor;
using physx::PxMaterial;

namespace crown
{

class Quaternion;
class Matrix4x4;
class Unit;
class PhysicsGraph;
class SceneGraph;

struct Actor
{
						Actor(ActorType::Enum type, const Vector3& pos, const Quaternion& rot);
						~Actor();

	void				create_sphere(const Vector3& position, float radius);
	void				create_box(const Vector3& position, float a, float b, float c);
	void				create_plane(const Vector3& position, const Vector3& normal);

	Matrix4x4 world_pose()
	{
		physx::PxTransform t = m_actor->getGlobalPose();

		Vector3 pos(t.p.x, t.p.y, t.p.z);
		Quaternion rot(t.q.x, t.q.y, t.q.z, t.q.w);
		return Matrix4x4(rot, pos);
	}

	void				enable_gravity();
	void				disable_gravity();

	bool				is_static() const;
	bool				is_dynamic() const;

	bool				is_kinematic() const;
	bool				is_physical() const;

	float				linear_damping() const;
	void				set_linear_damping(float rate);

	float				angular_damping() const;
	void				set_angular_damping(float rate);

	Vector3				linear_velocity() const;
	void				set_linear_velocity(const Vector3& vel);

	Vector3				angular_velocity() const;
	void				set_angular_velocity(const Vector3& vel);

	bool				is_sleeping();
	void				wake_up();

public:

	PxRigidActor* 		m_actor;
	PxMaterial* 		m_mat;
	ActorType::Enum 	m_type;
};

} // namespace crown