rigidbody.hpp

 
#pragma once
#include "../body.hpp"
#include "../collision.hpp"
#include "../physics_material.hpp"
#include "../shape.hpp"
 
#include <toast/world/node_3d.hpp>
#include <vector>
 
namespace physics {
 
class Simulator;
 
class [[ToastNode, Hidden, Interface, Icon("PhysicsBody"), Color("Green")]] TOAST_API Rigidbody : public toast::Node3D {
  friend class Simulator;
 
public:
  signals::Signal<toast::Box<toast::Node>> contact_begin;
  signals::Signal<toast::Box<toast::Node>> contact_end;
 
  [[Reflect, Layers("excluded"), Name("Layers")]]
  uint32_t included = 1;    // Default
 
  [[Reflect, LayersExcluded]]
  uint32_t excluded = 0;
 
  [[Reflect]]
  void setLayers(int included_layers, int excluded_layers);
 
  [[Reflect]]
  void includeLayer(int layer, bool value = true);
 
  [[Reflect]]
  void excludeLayer(int layer, bool value = true);
 
protected:
  explicit Rigidbody(BodyType type) : m_body_type(type) { }
 
  virtual void configureBodyDescriptor(BodyDescriptor& descriptor) const { }
 
  [[nodiscard]]
  auto bodyID() const noexcept -> BodyID {
    return m_body;
  }
 
  [[Reflect]]
  assets::Handle<assets::PhysicsMaterial> material;
 
  [[Reflect, Name("Lock X"), Group("Position Locks")]]
  bool lock_pos_x = false;
  [[Reflect, Name("Lock Y"), Group("Position Locks")]]
  bool lock_pos_y = false;
  [[Reflect, Name("Lock Z"), Group("Position Locks")]]
  bool lock_pos_z = false;
  [[Reflect, Name("Lock X"), Group("Rotation Locks")]]
  bool lock_rot_x = false;
  [[Reflect, Name("Lock Y"), Group("Rotation Locks")]]
  bool lock_rot_y = false;
  [[Reflect, Name("Lock Z"), Group("Rotation Locks")]]
  bool lock_rot_z = false;
 
private:
  struct ActiveContact {
    BodyID other_body;
    toast::Box<toast::Node> other_node;
    uint32_t shape_pair_count = 0;
  };
 
  void updateInspectorMessages() override;
  void begin();
  void end();
  void onEnable();
  void onDisable();
  void handleContactBegin(const BroadPhasePair& pair);
  void handleContactEnd(const BroadPhasePair& pair);
 
  [[nodiscard]]
  auto descriptor() const -> BodyDescriptor;
 
  void assignBody(BodyID body) noexcept { m_body = body; }
 
  void applyPhysicsTransform(const glm::vec3& position, const glm::quat& rotation);
 
  void onEditorTransformChanged() override;
 
  BodyType m_body_type;
  BodyID m_body;
  std::vector<ActiveContact> m_active_contacts;
  bool m_registration_requested = false;
};
 
}