mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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136 lines
4 KiB
C++
136 lines
4 KiB
C++
//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#ifndef _T3D_PHYSICS_PHYSICSBODY_H_
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#define _T3D_PHYSICS_PHYSICSBODY_H_
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#ifndef _T3D_PHYSICSCOMMON_H_
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#include "T3D/physics/physicsCommon.h"
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#endif
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#ifndef _T3D_PHYSICS_PHYSICSOBJECT_H_
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#include "T3D/physics/physicsObject.h"
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#endif
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class PhysicsCollision;
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class SceneObject;
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/// Simple physics object that represents a single rigid body.
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class PhysicsBody : public PhysicsObject
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{
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public:
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virtual ~PhysicsBody() {}
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enum
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{
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/// Marks the body as a trigger object which is only used
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/// to get collision events and not get collision response.
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BF_TRIGGER = BIT( 0 ),
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/// The body is kinematic and assumed to be moved by
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/// the game code via transforms.
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BF_KINEMATIC = BIT( 1 ),
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/// The body responds to contacts but does not push forces into others.
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BF_DEBRIS = BIT( 2 )
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};
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/// Initialize the body with a collision shape
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/// and basic physics properties.
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virtual bool init( PhysicsCollision *shape,
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F32 mass,
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U32 bodyFlags,
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SceneObject *obj,
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PhysicsWorld *world ) = 0;
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/// Returns true if the object is a dynamic rigid body
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/// animated by the physics simulation.
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///
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/// Kinematics are not considered to be dynamic.
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///
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virtual bool isDynamic() const = 0;
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/// Returns the collision shape used to create the body.
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virtual PhysicsCollision* getColShape() = 0;
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///
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virtual void setSleepThreshold( F32 linear, F32 angular ) = 0;
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///
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virtual void setDamping( F32 linear, F32 angular ) = 0;
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///
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virtual void getState( PhysicsState *outState ) = 0;
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///
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virtual F32 getMass() const = 0;
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///
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virtual Point3F getCMassPosition() const = 0;
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///
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virtual void setLinVelocity( const Point3F &vel ) = 0;
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///
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virtual void setAngVelocity( const Point3F &vel ) = 0;
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///
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virtual Point3F getLinVelocity() const = 0;
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///
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virtual Point3F getAngVelocity() const = 0;
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///
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virtual void setSleeping( bool sleeping ) = 0;
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///
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virtual void setMaterial( F32 restitution,
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F32 friction,
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F32 staticFriction ) = 0;
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///
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virtual void applyCorrection( const MatrixF &xfm ) = 0;
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///
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virtual void applyImpulse( const Point3F &origin, const Point3F &force ) = 0;
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///
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virtual void applyTorque( const Point3F &torque ) = 0;
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///
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virtual void applyForce( const Point3F &force ) = 0;
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virtual void findContact(SceneObject **contactObject,
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VectorF *contactNormal,
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Vector<SceneObject*> *outOverlapObjects) const = 0;
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///
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virtual void moveKinematicTo(const MatrixF &xfm) = 0;
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virtual bool isValid() = 0;
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};
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#endif // _T3D_PHYSICS_PHYSICSBODY_H_
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