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//-----------------------------------------------------------------------------
// Name: bulletobject.h
// Developer: Wolfire Games LLC
// Description:
// License: Read below
//-----------------------------------------------------------------------------
//
// Copyright 2022 Wolfire Games LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
//-----------------------------------------------------------------------------
#pragma once
#include <Math/quaternions.h>
#include <opengl.h>
#include <vector>
#include <memory>
class btRigidBody;
class btCollisionShape;
class btTransform;
class Object;
struct CollideInfo;
enum CDLItype { _CDLI_CAPSULE };
class btTriangleIndexVertexArray;
struct btTriangleInfoMap;
struct ShapeDisposalData {
std::vector<int> faces;
btTriangleIndexVertexArray *index_vert_array;
btTriangleInfoMap *triangle_info_map;
ShapeDisposalData();
~ShapeDisposalData();
};
typedef std::shared_ptr<btCollisionShape> SharedShapePtr;
class BulletObject {
public:
mat4 transform;
mat4 old_transform;
std::vector<mat4> transform_history;
btRigidBody *body;
SharedShapePtr shape;
std::auto_ptr<ShapeDisposalData> shape_disposal_data;
bool visible;
vec3 com_offset;
short collision_group;
short collision_flags;
Object *owner_object;
vec3 color;
bool linked;
bool keep_history;
BulletObject();
~BulletObject();
void Collided(const vec3& pos, float impulse, const CollideInfo &collide_info);
void SetTransform( const vec4 &position, const mat4 &rotation, const vec4 &scale );
void SetTransform( const mat4 &transform );
void SetPosition( const vec3 &position);
void ApplyTransform(const mat4& transform);
void SetGravity(bool _gravity);
void SetDamping( float damping );
void SetDamping( float lin_damping, float ang_damping );
void ApplyTorque(const vec3 &torque);
vec3 GetInterpPosition();
mat4 GetInterpRotation();
void SetRotation( const mat4 &rotation);
void SetRotation( const quaternion &rotation);
void ClearVelocities();
void SetAngularVelocity(const vec3& vel);
void SetLinearVelocity(const vec3& vel);
vec3 GetPosition() const;
vec3 GetLinearVelocity() const;
vec3 GetAngularVelocity() const;
mat4 GetRotation() const;
vec3 ObjectToWorld(const vec3 &point);
void ApplyForceAtWorldPoint(const vec3 &point, const vec3 &impulse);
vec3 WorldToObject(const vec3 &world_point);
void SetVisibility(const bool _visible);
bool IsVisible() const;
void Activate();
void Freeze();
void UnFreeze();
void FixDiscontinuity();
void Dispose();
float GetMomentOfInertia(const vec3& axis);
void CopyObjectTransform(const BulletObject* other);
void MixObjectTransform( const BulletObject* other, float how_much );
float GetMass();
void SetMass(float mass);
void GetDisplayTransform(btTransform* display_transform);
quaternion GetQuatRotation();
void GetQuatDeltaRotation() const;
void UpdateTransform();
void SetPositionAndVel( const vec3 &position, int frames = 1);
void SetRotationAndVel( const mat4 &rotation, int frames = 1);
void SetRotationAndVel( const quaternion &rotation, int frames = 1);
void AddAngularVelocity( const vec3& vel );
void AddLinearVelocity( const vec3& vel );
bool IsActive();
void MixObjectVel( const BulletObject* other, float how_much );
void CopyObjectVel( const BulletObject* other );
mat4 GetTransform() const;
vec3 GetInterpPositionX( int num, int progress );
mat4 GetInterpRotationX( int num, int progress );
void Sleep();
void SetMargin( float _margin );
vec3 GetVelocityAtLocalPoint(const vec3& point);
void NoSleep();
void CanSleep();
void CheckForNAN();
float GetMargin( );
void SetShape(SharedShapePtr _shape);
void SetColShape(btCollisionShape *_shape);
vec3 GetHistoryInterpPositionX( int num, int progress, float offset );
mat4 GetHistoryInterpRotationX( int num, int progress, float offset );
vec3 GetInterpWeightPosition(float weight);
mat4 GetInterpWeightRotation(float weight);
};
void ValidateTransform(const btTransform &bt_transform);
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