Magic_Game/src/kiwano-physics/Body.h

// Copyright (c) 2018-2019 Kiwano - Nomango
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.

#pragma once
#include <kiwano-physics/ContactEdge.h>
#include <kiwano-physics/Fixture.h>
#include <kiwano-physics/helper.h>

namespace kiwano
{
namespace physics
{
class World;

KGE_DECLARE_SMART_PTR(Body);

/**
 * \addtogroup Physics
 * @{
 */

/// \~chinese
/// @brief 物体
class KGE_API Body : public virtual ObjectBase
{
public:
    /// \~chinese
    /// @brief 物体类型
    enum class Type
    {
        Static = 0,  ///< 静态物体
        Kinematic,   ///< 动力学物体
        Dynamic,     ///< 动态物体
    };

    /// \~chinese
    /// @brief 初始化
    /// @param[in] world 物理世界
    /// @param[in] actor 绑定的角色
    /// @param[in] type 物体类型
    static BodyPtr Create(World* world, ActorPtr actor, Type type);

    /// \~chinese
    /// @brief 初始化
    /// @param[in] world 物理世界
    /// @param[in] actor 绑定的角色
    /// @param[in] type 物体类型
    static BodyPtr Create(World* world, Actor* actor, Type type);

    Body();

    virtual ~Body();

    /// \~chinese
    /// @brief 初始化
    /// @param[in] world 物理世界
    /// @param[in] actor 绑定的角色
    bool InitBody(World* world, ActorPtr actor);

    /// \~chinese
    /// @brief 初始化
    /// @param[in] world 物理世界
    /// @param[in] actor 绑定的角色
    bool InitBody(World* world, Actor* actor);

    /// \~chinese
    /// @brief 添加夹具
    void AddFixture(FixturePtr fixture);

    /// \~chinese
    /// @brief 添加圆形夹具
    /// @param radius 圆形半径
    /// @param density 物体密度
    /// @param 
    Fixture* AddCircleShape(float radius, float density, float friction = 0.2f, float restitution = 0.f,
                            bool is_sensor = false);

    /// \~chinese
    /// @brief 添加矩形夹具
    /// @param size 矩形大小
    /// @param density 物体密度
    Fixture* AddRectShape(Vec2 const& size, float density, float friction = 0.2f, float restitution = 0.f,
                          bool is_sensor = false);

    /// \~chinese
    /// @brief 添加多边形夹具
    /// @param vertexs 多边形端点
    /// @param density 物体密度
    Fixture* AddPolygonShape(Vector<Point> const& vertexs, float density, float friction = 0.2f,
                             float restitution = 0.f, bool is_sensor = false);

    /// \~chinese
    /// @brief 添加线段形夹具
    /// @param p1 线段起点
    /// @param p2 线段终点
    /// @param density 物体密度
    Fixture* AddEdgeShape(Point const& p1, Point const& p2, float density, float friction = 0.2f,
                          float restitution = 0.f, bool is_sensor = false);

    /// \~chinese
    /// @brief 添加链条形夹具
    /// @param vertexs 链条端点
    /// @param loop 是否闭合
    /// @param density 物体密度
    Fixture* AddChainShape(Vector<Point> const& vertexs, bool loop, float density, float friction = 0.2f,
                           float restitution = 0.f, bool is_sensor = false);

    /// \~chinese
    /// @brief 移除夹具
    void RemoveFixture(FixturePtr fixture);

    /// \~chinese
    /// @brief 获取夹具列表
    FixtureList GetFixtureList() const;

    /// \~chinese
    /// @brief 获取接触边列表
    ContactEdgeList GetContactList() const;

    /// \~chinese
    /// @brief 获取类别码
    uint16_t GetCategoryBits() const;

    /// \~chinese
    /// @brief 设置类别码
    void SetCategoryBits(uint16_t category_bits);

    /// \~chinese
    /// @brief 获取碰撞掩码
    uint16_t GetMaskBits() const;

    /// \~chinese
    /// @brief 设置碰撞掩码
    void SetMaskBits(uint16_t mask_bits);

    /// \~chinese
    /// @brief 获取组索引
    int16_t GetGroupIndex() const;

    /// \~chinese
    /// @brief 设置组索引
    void SetGroupIndex(int16_t index);

    /// \~chinese
    /// @brief 获取旋转角度
    float GetBodyRotation() const;

    /// \~chinese
    /// @brief 设置旋转角度
    void SetBodyRotation(float angle);

    /// \~chinese
    /// @brief 获取物体位置
    Point GetBodyPosition() const;

    /// \~chinese
    /// @brief 设置物体位置
    void SetBodyPosition(Point const& pos);

    /// \~chinese
    /// @brief 位置和旋转变换
    void SetBodyTransform(Point const& pos, float angle);

    /// \~chinese
    /// @brief 获取质量 [kg]
    float GetMass() const;

    /// \~chinese
    /// @brief 获取惯性
    float GetInertia() const;

    /// \~chinese
    /// @brief 获取质量数据
    /// @param[out] mass 物体质量 [kg]
    /// @param[out] center 质心位置
    /// @param[out] inertia 惯性
    void GetMassData(float* mass, Point* center, float* inertia) const;

    /// \~chinese
    /// @brief 设置质量数据
    /// @param mass 物体质量 [kg]
    /// @param center 质心位置
    /// @param inertia 惯性
    void SetMassData(float mass, Point const& center, float inertia);

    /// \~chinese
    /// @brief 重置质量数据
    void ResetMassData();

    /// \~chinese
    /// @brief 获取世界坐标系上的点在物体上的位置
    Point GetLocalPoint(Point const& world) const;

    /// \~chinese
    /// @brief 获取物体上的点在世界坐标系的位置
    Point GetWorldPoint(Point const& local) const;

    /// \~chinese
    /// @brief 获取物体质心相对于物体的位置
    Point GetLocalCenter() const;

    /// \~chinese
    /// @brief 获取物体质心位置
    Point GetWorldCenter() const;

    /// \~chinese
    /// @brief 获取物体类型
    Type GetType() const;

    /// \~chinese
    /// @brief 设置物体类型
    void SetType(Type type);

    /// \~chinese
    /// @brief 获取物体受重力的比例
    float GetGravityScale() const;

    /// \~chinese
    /// @brief 设置物体受重力的比例
    void SetGravityScale(float scale);

    /// \~chinese
    /// @brief 施力
    /// @param force 力的大小和方向
    /// @param point 施力点
    /// @param wake 是否唤醒物体
    void ApplyForce(Vec2 const& force, Point const& point, bool wake = true);

    /// \~chinese
    /// @brief 给物体中心施力
    /// @param force 力的大小和方向
    /// @param wake 是否唤醒物体
    void ApplyForceToCenter(Vec2 const& force, bool wake = true);

    /// \~chinese
    /// @brief 施加扭矩
    /// @param torque 扭矩
    /// @param wake 是否唤醒物体
    void ApplyTorque(float torque, bool wake = false);

    /// \~chinese
    /// @brief 旋转角度是否固定
    bool IsIgnoreRotation() const;

    /// \~chinese
    /// @brief 设置是否固定旋转角度
    void SetIgnoreRotation(bool flag);

    /// \~chinese
    /// @brief 是否是子弹物体
    bool IsBullet() const;

    /// \~chinese
    /// @brief 设置物体是否是子弹物体
    void SetBullet(bool flag);

    /// \~chinese
    /// @brief 是否处于唤醒状态
    bool IsAwake() const;

    /// \~chinese
    /// @brief 设置唤醒状态
    void SetAwake(bool flag);

    /// \~chinese
    /// @brief 是否启用休眠
    bool IsSleepingAllowed() const;

    /// \~chinese
    /// @brief 设置是否允许休眠
    void SetSleepingAllowed(bool flag);

    /// \~chinese
    /// @brief 是否启用
    bool IsActive() const;

    /// \~chinese
    /// @brief 设置启用状态
    void SetActive(bool flag);

    /// \~chinese
    /// @brief 获取物体所在物理世界
    World* GetWorld() const;

    /// \~chinese
    /// @brief 获取物体绑定的角色
    Actor* GetActor() const;

    /// \~chinese
    /// @brief 设置物体绑定的角色
    void SetActor(Actor* actor);

    /// \~chinese
    /// @brief 将物体信息更新到角色
    void UpdateActor();

    /// \~chinese
    /// @brief 将角色信息更新到物体
    void UpdateFromActor();

    b2Body* GetB2Body() const;
    void    SetB2Body(b2Body* body);

private:
    /// \~chinese
    /// @brief 销毁物体
    void UpdateFixtureFilter(b2Fixture* fixture);

    /// \~chinese
    /// @brief 销毁物体
    void Destroy();

private:
    Actor*  actor_;
    World*  world_;
    b2Body* body_;

    uint16_t category_bits_;
    uint16_t mask_bits_;
    int16_t  group_index_;

    Vector<FixturePtr> fixtures_;
};

/** @} */

inline BodyPtr Body::Create(World* world, ActorPtr actor, Type type)
{
    return Body::Create(world, actor.get(), type);
}

inline bool Body::InitBody(World* world, ActorPtr actor)
{
    return InitBody(world, actor.get());
}

inline FixtureList Body::GetFixtureList() const
{
    KGE_ASSERT(body_);

    if (!body_->GetFixtureList())
        return FixtureList();

    Fixture* fixture = static_cast<Fixture*>(body_->GetFixtureList()->GetUserData());
    return FixtureList(fixture);
}

inline ContactEdgeList Body::GetContactList() const
{
    KGE_ASSERT(body_);
    return ContactEdgeList(ContactEdge(body_->GetContactList()));
}

inline uint16_t Body::GetCategoryBits() const
{
    return category_bits_;
}

inline uint16_t Body::GetMaskBits() const
{
    return mask_bits_;
}

inline int16_t Body::GetGroupIndex() const
{
    return group_index_;
}

inline float Body::GetBodyRotation() const
{
    KGE_ASSERT(body_);
    return math::Radian2Degree(body_->GetAngle());
}

inline void Body::SetBodyRotation(float angle)
{
    SetBodyTransform(GetBodyPosition(), angle);
}

inline void Body::SetBodyPosition(Point const& pos)
{
    SetBodyTransform(pos, GetBodyRotation());
}

inline float Body::GetMass() const
{
    KGE_ASSERT(body_);
    return body_->GetMass();
}

inline float Body::GetInertia() const
{
    KGE_ASSERT(body_);
    return body_->GetInertia();
}

inline Body::Type Body::GetType() const
{
    KGE_ASSERT(body_);
    return Type(body_->GetType());
}

inline void Body::SetType(Type type)
{
    KGE_ASSERT(body_);
    body_->SetType(static_cast<b2BodyType>(type));
}

inline float Body::GetGravityScale() const
{
    KGE_ASSERT(body_);
    return body_->GetGravityScale();
}

inline void Body::SetGravityScale(float scale)
{
    KGE_ASSERT(body_);
    body_->SetGravityScale(scale);
}

inline bool Body::IsIgnoreRotation() const
{
    KGE_ASSERT(body_);
    return body_->IsFixedRotation();
}

inline void Body::SetIgnoreRotation(bool flag)
{
    KGE_ASSERT(body_);
    body_->SetFixedRotation(flag);
}

inline bool Body::IsBullet() const
{
    KGE_ASSERT(body_);
    return body_->IsBullet();
}

inline void Body::SetBullet(bool flag)
{
    KGE_ASSERT(body_);
    body_->SetBullet(flag);
}

inline bool Body::IsAwake() const
{
    KGE_ASSERT(body_);
    return body_->IsAwake();
}

inline void Body::SetAwake(bool flag)
{
    KGE_ASSERT(body_);
    body_->SetAwake(flag);
}

inline bool Body::IsSleepingAllowed() const
{
    KGE_ASSERT(body_);
    return body_->IsSleepingAllowed();
}

inline void Body::SetSleepingAllowed(bool flag)
{
    KGE_ASSERT(body_);
    body_->SetSleepingAllowed(flag);
}

inline bool Body::IsActive() const
{
    KGE_ASSERT(body_);
    return body_->IsActive();
}

inline void Body::SetActive(bool flag)
{
    KGE_ASSERT(body_);
    body_->SetActive(flag);
}

inline Actor* Body::GetActor() const
{
    return actor_;
}

inline void Body::SetActor(Actor* actor)
{
    actor_ = actor;
}

inline b2Body* Body::GetB2Body() const
{
    return body_;
}

inline World* Body::GetWorld() const
{
    return world_;
}
}  // namespace physics
}  // namespace kiwano