Program Listing for File rigid_body_component.h

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#pragma once

#include "component.h"
#include "components/space/transform_component.h"
#include "core/physics/bullet_conversions.h"
#include "collision_component.h"

#include "btBulletDynamicsCommon.h"

enum PhysicsMaterial;

class RigidBodyComponent : public CollisionComponent, public btMotionState
{
    DEPENDS_ON(TransformComponent);

protected:
    Ref<btCollisionShape> m_CollisionShape;
    btRigidBody* m_Body = nullptr;
    bool m_IsGeneratesHitEvents;
    btScalar m_Mass;
    Vector3 m_Gravity;
    Vector3 m_AngularFactor;
    Vector3 m_Offset;
    float m_Volume;
    bool m_IsMoveable;
    bool m_IsKinematic;
    bool m_IsSleepable;
    bool m_IsCCD;
    PhysicsMaterial m_Material;

    btVector3 m_LocalInertia;

    RigidBodyComponent(
        Entity& owner,
        const PhysicsMaterial& material,
        float volume,
        const Vector3& offset,
        const Vector3& gravity,
        const Vector3& angularFactor,
        int collisionGroup,
        int collisionMask,
        bool isMoveable,
        bool isKinematic,
        bool generatesHitEvents,
        bool canSleep,
        bool isCCD,
        const Ref<btCollisionShape>& collisionShape);

    void getWorldTransform(btTransform& worldTrans) const override;
    void setWorldTransform(const btTransform& worldTrans) override;

    void updateTransform();

    void handleHit(Hit* hit) override;

public:
    virtual ~RigidBodyComponent() = default;

    void applyForce(const Vector3& force);
    void applyTorque(const Vector3& torque);

    Vector3 getAngularFactor() const { return m_AngularFactor; }
    void setAngularFactor(const Vector3& factors);
    void setAxisLock(bool enabled);

    Vector3 getOffset() const { return m_Offset; };
    void setOffset(const Vector3& offset);

    Vector3 getGravity() const { return m_Gravity; };
    void setGravity(const Vector3& gravity);

    PhysicsMaterial getMaterial() const;

    Vector3 getVelocity();
    void setVelocity(const Vector3& velocity);

    Vector3 getAngularVelocity();
    void setAngularVelocity(const Vector3& angularVel);

    void translate(const Vector3& vec);

    void setTransform(const Matrix& mat);
    Matrix getTransform();

    bool isMoveable() { return m_IsMoveable; }
    void setMoveable(bool enabled);

    bool canSleep() { return m_IsSleepable; }
    void setSleepable(bool enabled);

    bool isCCD() { return m_IsCCD; }
    void setCCD(bool enabled);

    bool isGeneratesHitEvents() { return m_IsGeneratesHitEvents; }
    void setGeneratedHitEvents(bool enabled) { m_IsGeneratesHitEvents = enabled; }

    bool isKinematic() { return m_IsKinematic; }
    void setKinematic(bool enabled);

    void setupRigidBody();
    bool setupData() override;

    JSON::json getJSON() const override;
    void draw() override;
    void highlight();
};