dynamic_rigidbody.hpp

 
#pragma once
#include "rigidbody.hpp"
 
namespace physics {
 
class [[ToastNode, Icon("RigidBody")]] TOAST_API DynamicRigidbody : public physics::Rigidbody {
  friend class Simulator;
 
public:
  DynamicRigidbody() : Rigidbody(BodyType::dynamic_body) { }
 
  signals::Signal<> went_to_sleep;
  signals::Signal<> woke_up;
 
  [[Reflect]]
  void sleep();
  [[Reflect]]
  void wake();
  [[Reflect]]
  void setLinearVelocity(const glm::vec3& velocity);
  [[Reflect]]
  void setPosition(const glm::vec3& position);
  [[Reflect]]
  void setRotation(const glm::quat& rotation);
 
  [[Reflect, Unit("kg")]]
  float mass = 1.0f;
  [[Reflect]]
  float gravity_scale = 1.0f;
  [[Reflect]]
  bool allow_sleep = true;
  [[Reflect, ReadOnly]]
  bool awake = true;
 
  [[Reflect, Group("Drag"), Unit("1/s")]]
  float linear_damping = 0.0f;
  [[Reflect, Group("Drag"), Unit("1/s")]]
  float angular_damping = 0.0f;
  [[Reflect, Group("Drag")]]
  float drag_scale = 1.0f;
 
  // TODO:
 
  [[Reflect, Group("Mass Distribution"), Unit("m"), ReadOnly]]
  glm::vec3 center_of_mass = {};
  [[Reflect, Group("Mass Distribution"), Unit("kg•m²"), ReadOnly]]
  glm::vec3 inertia = {};
 
  [[Reflect, Group("Velocities"), Unit("m/s"), ReadOnly]]
  glm::vec3 linear_velocity = {};
  [[Reflect, Group("Velocities"), Unit("rad/s"), ReadOnly]]
  glm::vec3 angular_velocity = {};
 
  [[Reflect, Group("Constant Forces"), Unit("N"), ReadOnly]]
  glm::vec3 constant_force = {};
  [[Reflect, Group("Constant Forces"), Unit("N•m"), ReadOnly]]
  glm::vec3 constant_torque = {};
 
private:
  void publishPhysicsState(bool is_awake, const glm::vec3& current_linear_velocity, const glm::vec3& current_angular_velocity);
 
  void configureBodyDescriptor(BodyDescriptor& descriptor) const override {
    descriptor.mass = mass;
    descriptor.gravity_scale = gravity_scale;
    descriptor.allow_sleep = allow_sleep;
    descriptor.linear_damping = linear_damping;
    descriptor.angular_damping = angular_damping;
    descriptor.drag_scale = drag_scale;
  }
};
 
}