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

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

using physx::PxRigidActor;
using physx::PxMaterial;
using physx::PxScene;
using physx::PxPhysics;
using physx::PxCooking;

namespace crown
{

#define MAX_PHYSX_VERTICES 256

struct PhysicsResource;
struct PhysicsConfigResource;
struct Quaternion;
struct Matrix4x4;
struct Unit;
class SceneGraph;

///
/// @ingroup Physics
struct Actor
{
	/// Constructor
						Actor(const PhysicsResource* res, const PhysicsConfigResource* config, uint32_t index, PxPhysics* physics, PxCooking* cooking,
								PxScene* scene, SceneGraph& sg, int32_t node, Unit* unit, const Vector3& pos, const Quaternion& rot);
	/// Destructor
						~Actor();

	/// Makes the actor subject to gravity
	void				enable_gravity();

	/// Makes the actor unsubject to gravity
	void				disable_gravity();

	void				enable_collision();
	void				disable_collision();

	/// Makes the actor kinematic (keyframed)
	/// @note
	/// Works only for dynamic actors
	void				set_kinematic();

	/// Makes the actor dynamic
	/// @note
	/// Works only for kinematic actors
	void				clear_kinematic();

	/// Moves the actor to @a pos
	/// @note
	/// Works only for kinematic actors
	void				move(const Vector3& pos);

	/// Returns whether the actor is static (i.e. immovable).
	bool				is_static() const;

	/// Returns whether the actor is dynamic (i.e. driven dy physics).
	bool				is_dynamic() const;

	/// Returns whether the actor is kinematic (i.e. driven by the user).
	bool				is_kinematic() const;

	/// Returns the rate at which rigid bodies dissipate linear momentum
	float				linear_damping() const;

	/// Sets the rate at which rigid bodies dissipate linear momentum
	void				set_linear_damping(float rate);

	/// Returns the rate at which rigid bodies dissipate angular momentum
	float				angular_damping() const;

	/// Sets the rate at which rigid bodies dissipate angular momentum
	void				set_angular_damping(float rate);

	/// Returns linear velocity of the actor
	/// @note
	/// If actor is sleeping, linear velocity must be 0
	Vector3				linear_velocity() const;

	/// Sets linear velocity of the actor
	/// @note
	/// If actor is sleeping, this will wake it up
	void				set_linear_velocity(const Vector3& vel);

	/// Returns angular velocity of the actor
	/// @note
	/// If actor is sleeping, angular velocity must be 0
	Vector3				angular_velocity() const;

	/// Sets angular velocity of the actor
	/// @note
	/// If actor is sleeping, this will wake it up
	void				set_angular_velocity(const Vector3& vel);

	/// Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in global coordinates, to the actor.
	/// @note
	/// If the force does not act along the center of mass of the actor, this will also add the corresponding torque.
	/// Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame.
	void				add_impulse(const Vector3& impulse);

	/// Applies a force (or impulse) defined in the global coordinate frame, acting at a particular point in local coordinates, to the actor.
	/// @note
	/// If the force does not act along the center of mass of the actor, this will also add the corresponding torque.
	/// Because forces are reset at the end of every timestep, you can maintain a total external force on an object by calling this once every frame. 
	void				add_impulse_at(const Vector3& impulse, const Vector3& pos);

	/// Applies a force, evaluated by actor's @a mass and @a velocity that will be achieved, to the actor
	void				push(const Vector3& vel, const float mass);

	/// Returns true if tha actor is sleeping, false otherwise
	bool				is_sleeping();

	/// Forces the actor to wake up
	void				wake_up();

	/// Returns actor's name
	StringId32			name();

	/// Returns the unit that owns this actor
	Unit*				unit();

private:

	void				update(const Matrix4x4& pose);
	void				create_shapes(const PhysicsResource* res, const PhysicsConfigResource* config, PxPhysics* physics, PxCooking* cooking);
	Matrix4x4			get_kinematic_pose() const;

public:

	const PhysicsResource*			m_resource;
	const PhysicsConfigResource* 	m_config;
	uint32_t						m_index;

	Unit*							m_unit;

	PxScene*						m_scene;
	SceneGraph&						m_scene_graph;
	int32_t							m_node;
	PxRigidActor* 					m_actor;
	uint32_t						m_group;
	uint32_t						m_mask;

private:

	friend class PhysicsWorld;
};

} // namespace crown