body.hpp

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#pragma once
 
#include "layers.hpp"
 
#include <compare>
#include <cstdint>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <limits>
 
namespace physics {
 
struct BodyID {
  uint32_t slot = std::numeric_limits<uint32_t>::max();
  uint32_t generation = 0;
  auto operator<=>(const BodyID&) const = default;
};
 
enum class BodyType : uint8_t {
  static_body,
  dynamic_body,
  kinematic_body
};
 
struct BodyDescriptor {
  BodyType type = BodyType::dynamic_body;
  bool allow_sleep = true;
  glm::vec3 position = {};
  glm::quat rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 linear_velocity = {};
  glm::vec3 angular_velocity = {};
  float mass = 1.0f;
  float gravity_scale = 1.0f;
  glm::bvec3 lock_position = glm::bvec3(false);
  glm::bvec3 lock_rotation = glm::bvec3(false);
  float linear_damping = 0.0f;
  float angular_damping = 0.0f;
  float drag_scale = 1.0f;
  LayerFilter layers;
};
 
struct BodyState {
  BodyType type = BodyType::dynamic_body;
  bool awake = true;
  glm::vec3 position = {};
  glm::quat rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 previous_position = {};
  glm::quat previous_rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 linear_velocity = {};
  glm::vec3 angular_velocity = {};
};
 
struct Body {
  BodyType type = BodyType::dynamic_body;
  bool enabled = true;
  bool awake = true;
  bool allow_sleep = true;
  bool sleep_locked = false;
  float sleep_timer = 0.0f;
  float asleep_seconds = 0.0f;
  glm::vec3 sleep_anchor_center = {};
  glm::quat sleep_anchor_rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 position = {};
  glm::quat rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 previous_position = {};
  glm::quat previous_rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
  glm::vec3 linear_velocity = {};
  glm::vec3 angular_velocity = {};
  float inverse_mass = 1.0f;
  float gravity_scale = 1.0f;
  glm::mat3 inverse_inertia_local = {0.0f};
  glm::mat3 inverse_inertia_world = {0.0f};
  glm::vec3 local_center_of_mass = {};
  float extent_radius = 0.0f;    
  glm::bvec3 lock_position = glm::bvec3(false);
  glm::bvec3 lock_rotation = glm::bvec3(false);
  float linear_damping = 0.0f;
  float angular_damping = 0.0f;
  float drag_scale = 1.0f;
  LayerFilter layers;
  float drag_coefficient = 0.0f;
  float drag_area_base = 0.0f;
  glm::vec3 drag_area_axis = {};
 
  [[nodiscard]]
  auto worldCenterOfMass() const -> glm::vec3 {
    return position + rotation * local_center_of_mass;
  }
};
 
struct BodySlot {
  Body body;
  uint32_t generation = 1;
  bool occupied = false;
};
 
}