Steve Pham
38261d0800
* Updated all copyright headers to split the longer original copyright line into 2 shorter lines Signed-off-by: Steve Pham <spham@amazon.com>
235 lines
10 KiB
C++
235 lines
10 KiB
C++
/*
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* Copyright (c) Contributors to the Open 3D Engine Project.
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* For complete copyright and license terms please see the LICENSE at the root of this distribution.
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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#pragma once
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#include <AzCore/Math/Matrix3x3.h>
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#include <AzCore/Math/Vector3.h>
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#include <AzCore/Math/Aabb.h>
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#include <AzFramework/Physics/WorldBody.h>
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#include <AzFramework/Physics/ShapeConfiguration.h>
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namespace
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{
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class ReflectContext;
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}
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namespace Physics
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{
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class ShapeConfiguration;
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class World;
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class Shape;
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/// Default values used for initializing RigidBodySettings.
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/// These can be modified by Physics Implementation gems. // O3DE_DEPRECATED(LY-114472) - DefaultRigidBodyConfiguration values are not shared across modules.
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// Use RigidBodyConfiguration default values.
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struct DefaultRigidBodyConfiguration
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{
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static float m_mass;
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static bool m_computeInertiaTensor;
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static float m_linearDamping;
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static float m_angularDamping;
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static float m_sleepMinEnergy;
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static float m_maxAngularVelocity;
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};
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enum class MassComputeFlags : AZ::u8
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{
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NONE = 0,
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//! Flags indicating whether a certain mass property should be auto-computed or not.
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COMPUTE_MASS = 1,
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COMPUTE_INERTIA = 1 << 1,
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COMPUTE_COM = 1 << 2,
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//! If set, non-simulated shapes will also be included in the mass properties calculation.
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INCLUDE_ALL_SHAPES = 1 << 3,
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DEFAULT = COMPUTE_COM | COMPUTE_INERTIA | COMPUTE_MASS
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};
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class RigidBodyConfiguration
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: public WorldBodyConfiguration
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBodyConfiguration, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBodyConfiguration, "{ACFA8900-8530-4744-AF00-AA533C868A8E}", WorldBodyConfiguration);
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static void Reflect(AZ::ReflectContext* context);
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enum PropertyVisibility : AZ::u16
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{
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InitialVelocities = 1 << 0, ///< Whether the initial linear and angular velocities are visible.
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InertiaProperties = 1 << 1, ///< Whether the whole category of inertia properties (mass, compute inertia,
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///< inertia tensor etc) is visible.
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Damping = 1 << 2, ///< Whether linear and angular damping are visible.
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SleepOptions = 1 << 3, ///< Whether the sleep threshold and start asleep options are visible.
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Interpolation = 1 << 4, ///< Whether the interpolation option is visible.
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Gravity = 1 << 5, ///< Whether the effected by gravity option is visible.
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Kinematic = 1 << 6, ///< Whether the option to make the body kinematic is visible.
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ContinuousCollisionDetection = 1 << 7, ///< Whether the option to enable continuous collision detection is visible.
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MaxVelocities = 1 << 8 ///< Whether upper limits on velocities are visible.
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};
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RigidBodyConfiguration() = default;
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RigidBodyConfiguration(const RigidBodyConfiguration& settings) = default;
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// Visibility functions.
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AZ::Crc32 GetPropertyVisibility(PropertyVisibility property) const;
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void SetPropertyVisibility(PropertyVisibility property, bool isVisible);
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AZ::Crc32 GetInitialVelocitiesVisibility() const;
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/// Returns whether the whole category of inertia settings (mass, inertia, center of mass offset etc) is visible.
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AZ::Crc32 GetInertiaSettingsVisibility() const;
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/// Returns whether the individual inertia tensor field is visible or is hidden because the compute inertia option is selected.
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AZ::Crc32 GetInertiaVisibility() const;
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/// Returns whether the mass field is visible or is hidden because compute mass option is selected.
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AZ::Crc32 GetMassVisibility() const;
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/// Returns whether the individual centre of mass offset field is visible or is hidden because compute CoM option is selected.
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AZ::Crc32 GetCoMVisibility() const;
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AZ::Crc32 GetDampingVisibility() const;
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AZ::Crc32 GetSleepOptionsVisibility() const;
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AZ::Crc32 GetInterpolationVisibility() const;
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AZ::Crc32 GetGravityVisibility() const;
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AZ::Crc32 GetKinematicVisibility() const;
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AZ::Crc32 GetCCDVisibility() const;
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AZ::Crc32 GetMaxVelocitiesVisibility() const;
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MassComputeFlags GetMassComputeFlags() const;
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void SetMassComputeFlags(MassComputeFlags flags);
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bool IsCCDEnabled() const;
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// Basic initial settings.
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AZ::Vector3 m_initialLinearVelocity = AZ::Vector3::CreateZero();
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AZ::Vector3 m_initialAngularVelocity = AZ::Vector3::CreateZero();
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AZ::Vector3 m_centerOfMassOffset = AZ::Vector3::CreateZero();
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// Simulation parameters.
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float m_mass = DefaultRigidBodyConfiguration::m_mass;
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AZ::Matrix3x3 m_inertiaTensor = AZ::Matrix3x3::CreateIdentity();
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float m_linearDamping = DefaultRigidBodyConfiguration::m_linearDamping;
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float m_angularDamping = DefaultRigidBodyConfiguration::m_angularDamping;
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float m_sleepMinEnergy = DefaultRigidBodyConfiguration::m_sleepMinEnergy;
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float m_maxAngularVelocity = DefaultRigidBodyConfiguration::m_maxAngularVelocity;
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// Visibility settings.
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AZ::u16 m_propertyVisibilityFlags = (std::numeric_limits<AZ::u16>::max)();
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bool m_startAsleep = false;
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bool m_interpolateMotion = false;
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bool m_gravityEnabled = true;
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bool m_simulated = true;
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bool m_kinematic = false;
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bool m_ccdEnabled = false; ///< Whether continuous collision detection is enabled.
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float m_ccdMinAdvanceCoefficient = 0.15f; ///< Coefficient affecting how granularly time is subdivided in CCD.
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bool m_ccdFrictionEnabled = false; ///< Whether friction is applied when resolving CCD collisions.
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bool m_computeCenterOfMass = true;
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bool m_computeInertiaTensor = true;
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bool m_computeMass = true;
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//! If set, non-simulated shapes will also be included in the mass properties calculation.
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bool m_includeAllShapesInMassCalculation = false;
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};
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/// Dynamic rigid body.
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class RigidBody
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: public WorldBody
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBody, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBody, "{156E459F-7BB7-4B4E-ADA0-2130D96B7E80}", WorldBody);
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public:
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RigidBody() = default;
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explicit RigidBody(const RigidBodyConfiguration& settings);
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virtual void AddShape(AZStd::shared_ptr<Shape> shape) = 0;
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virtual void RemoveShape(AZStd::shared_ptr<Shape> shape) = 0;
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virtual AZ::u32 GetShapeCount() { return 0; }
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virtual AZStd::shared_ptr<Shape> GetShape(AZ::u32 /*index*/) { return nullptr; }
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virtual AZ::Vector3 GetCenterOfMassWorld() const = 0;
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virtual AZ::Vector3 GetCenterOfMassLocal() const = 0;
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virtual AZ::Matrix3x3 GetInverseInertiaWorld() const = 0;
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virtual AZ::Matrix3x3 GetInverseInertiaLocal() const = 0;
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virtual float GetMass() const = 0;
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virtual float GetInverseMass() const = 0;
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virtual void SetMass(float mass) = 0;
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virtual void SetCenterOfMassOffset(const AZ::Vector3& comOffset) = 0;
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/// Retrieves the velocity at center of mass; only linear velocity, no rotational velocity contribution.
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virtual AZ::Vector3 GetLinearVelocity() const = 0;
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virtual void SetLinearVelocity(const AZ::Vector3& velocity) = 0;
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virtual AZ::Vector3 GetAngularVelocity() const = 0;
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virtual void SetAngularVelocity(const AZ::Vector3& angularVelocity) = 0;
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virtual AZ::Vector3 GetLinearVelocityAtWorldPoint(const AZ::Vector3& worldPoint) = 0;
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virtual void ApplyLinearImpulse(const AZ::Vector3& impulse) = 0;
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virtual void ApplyLinearImpulseAtWorldPoint(const AZ::Vector3& impulse, const AZ::Vector3& worldPoint) = 0;
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virtual void ApplyAngularImpulse(const AZ::Vector3& angularImpulse) = 0;
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virtual float GetLinearDamping() const = 0;
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virtual void SetLinearDamping(float damping) = 0;
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virtual float GetAngularDamping() const = 0;
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virtual void SetAngularDamping(float damping) = 0;
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virtual bool IsAwake() const = 0;
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virtual void ForceAsleep() = 0;
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virtual void ForceAwake() = 0;
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virtual float GetSleepThreshold() const = 0;
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virtual void SetSleepThreshold(float threshold) = 0;
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virtual bool IsKinematic() const = 0;
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virtual void SetKinematic(bool kinematic) = 0;
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virtual void SetKinematicTarget(const AZ::Transform& targetPosition) = 0;
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virtual bool IsGravityEnabled() const = 0;
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virtual void SetGravityEnabled(bool enabled) = 0;
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virtual void SetSimulationEnabled(bool enabled) = 0;
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virtual void SetCCDEnabled(bool enabled) = 0;
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//! Recalculates mass, inertia and center of mass based on the flags passed.
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//! @param flags MassComputeFlags specifying which properties should be recomputed.
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//! @param centerOfMassOffsetOverride Optional override of the center of mass. Note: This parameter will be ignored if COMPUTE_COM is passed in flags.
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//! @param inertiaTensorOverride Optional override of the inertia. Note: This parameter will be ignored if COMPUTE_INERTIA is passed in flags.
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//! @param massOverride Optional override of the mass. Note: This parameter will be ignored if COMPUTE_MASS is passed in flags.
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virtual void UpdateMassProperties(MassComputeFlags flags = MassComputeFlags::DEFAULT,
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const AZ::Vector3* centerOfMassOffsetOverride = nullptr,
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const AZ::Matrix3x3* inertiaTensorOverride = nullptr,
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const float* massOverride = nullptr) = 0;
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};
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/// Bitwise operators for MassComputeFlags
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inline MassComputeFlags operator|(MassComputeFlags lhs, MassComputeFlags rhs)
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{
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return aznumeric_cast<MassComputeFlags>(aznumeric_cast<AZ::u8>(lhs) | aznumeric_cast<AZ::u8>(rhs));
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}
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inline MassComputeFlags operator&(MassComputeFlags lhs, MassComputeFlags rhs)
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{
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return aznumeric_cast<MassComputeFlags>(aznumeric_cast<AZ::u8>(lhs) & aznumeric_cast<AZ::u8>(rhs));
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}
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/// Static rigid body.
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class RigidBodyStatic
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: public WorldBody
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{
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public:
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AZ_CLASS_ALLOCATOR(RigidBodyStatic, AZ::SystemAllocator, 0);
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AZ_RTTI(RigidBodyStatic, "{13A677BB-7085-4EDB-BCC8-306548238692}", WorldBody);
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virtual void AddShape(const AZStd::shared_ptr<Shape>& shape) = 0;
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virtual AZ::u32 GetShapeCount() { return 0; }
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virtual AZStd::shared_ptr<Shape> GetShape(AZ::u32 /*index*/) { return nullptr; }
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};
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} // namespace Physics
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