BodyInterface.h

Go to the documentation of this file.

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Body/BodyID.h>
#include <Jolt/Physics/EActivation.h>
#include <Jolt/Physics/Collision/ObjectLayer.h>
#include <Jolt/Physics/Body/MotionType.h>
#include <Jolt/Physics/Body/MotionQuality.h>
#include <Jolt/Physics/Body/BodyType.h>
#include <Jolt/Core/Reference.h>
 
JPH_NAMESPACE_BEGIN
 
class Body;
class BodyCreationSettings;
class SoftBodyCreationSettings;
class BodyLockInterface;
class BroadPhase;
class BodyManager;
class TransformedShape;
class PhysicsMaterial;
class SubShapeID;
class Shape;
class TwoBodyConstraintSettings;
class TwoBodyConstraint;
class BroadPhaseLayerFilter;
class AABox;
class CollisionGroup;

class JPH_EXPORT BodyInterface : public NonCopyable
{
public:
    void                        Init(BodyLockInterface &inBodyLockInterface, BodyManager &inBodyManager, BroadPhase &inBroadPhase) { mBodyLockInterface = &inBodyLockInterface; mBodyManager = &inBodyManager; mBroadPhase = &inBroadPhase; }

    Body *                      CreateBody(const BodyCreationSettings &inSettings);

    Body *                      CreateSoftBody(const SoftBodyCreationSettings &inSettings);

    Body *                      CreateBodyWithID(const BodyID &inBodyID, const BodyCreationSettings &inSettings);

    Body *                      CreateSoftBodyWithID(const BodyID &inBodyID, const SoftBodyCreationSettings &inSettings);

    Body *                      CreateBodyWithoutID(const BodyCreationSettings &inSettings) const;

    Body *                      CreateSoftBodyWithoutID(const SoftBodyCreationSettings &inSettings) const;

    void                        DestroyBodyWithoutID(Body *inBody) const;

    bool                        AssignBodyID(Body *ioBody);

    bool                        AssignBodyID(Body *ioBody, const BodyID &inBodyID);

    Body *                      UnassignBodyID(const BodyID &inBodyID);

    void                        UnassignBodyIDs(const BodyID *inBodyIDs, int inNumber, Body **outBodies);

    void                        DestroyBody(const BodyID &inBodyID);

    void                        DestroyBodies(const BodyID *inBodyIDs, int inNumber);

    void                        AddBody(const BodyID &inBodyID, EActivation inActivationMode);

    void                        RemoveBody(const BodyID &inBodyID);

    bool                        IsAdded(const BodyID &inBodyID) const;

    BodyID                      CreateAndAddBody(const BodyCreationSettings &inSettings, EActivation inActivationMode);

    BodyID                      CreateAndAddSoftBody(const SoftBodyCreationSettings &inSettings, EActivation inActivationMode);

    using AddState = void *;


    AddState                    AddBodiesPrepare(BodyID *ioBodies, int inNumber);

    void                        AddBodiesFinalize(BodyID *ioBodies, int inNumber, AddState inAddState, EActivation inActivationMode);

    void                        AddBodiesAbort(BodyID *ioBodies, int inNumber, AddState inAddState);

    void                        RemoveBodies(BodyID *ioBodies, int inNumber);

    void                        ActivateBody(const BodyID &inBodyID);
    void                        ActivateBodies(const BodyID *inBodyIDs, int inNumber);
    void                        ActivateBodiesInAABox(const AABox &inBox, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter);
    void                        DeactivateBody(const BodyID &inBodyID);
    void                        DeactivateBodies(const BodyID *inBodyIDs, int inNumber);
    bool                        IsActive(const BodyID &inBodyID) const; 
    void                        ResetSleepTimer(const BodyID &inBodyID); 

    TwoBodyConstraint *         CreateConstraint(const TwoBodyConstraintSettings *inSettings, const BodyID &inBodyID1, const BodyID &inBodyID2);

    void                        ActivateConstraint(const TwoBodyConstraint *inConstraint);


    RefConst<Shape>             GetShape(const BodyID &inBodyID) const;

    void                        SetShape(const BodyID &inBodyID, const Shape *inShape, bool inUpdateMassProperties, EActivation inActivationMode) const;

    void                        NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inPreviousCenterOfMass, bool inUpdateMassProperties, EActivation inActivationMode) const;

    void                        SetObjectLayer(const BodyID &inBodyID, ObjectLayer inLayer); 
    ObjectLayer                 GetObjectLayer(const BodyID &inBodyID) const; 

    void                        SetPositionAndRotation(const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, EActivation inActivationMode);
    void                        SetPositionAndRotationWhenChanged(const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, EActivation inActivationMode); 
    void                        GetPositionAndRotation(const BodyID &inBodyID, RVec3 &outPosition, Quat &outRotation) const;
    void                        SetPosition(const BodyID &inBodyID, RVec3Arg inPosition, EActivation inActivationMode);
    RVec3                       GetPosition(const BodyID &inBodyID) const;
    RVec3                       GetCenterOfMassPosition(const BodyID &inBodyID) const; 
    void                        SetRotation(const BodyID &inBodyID, QuatArg inRotation, EActivation inActivationMode);
    Quat                        GetRotation(const BodyID &inBodyID) const;
    RMat44                      GetWorldTransform(const BodyID &inBodyID) const; 
    RMat44                      GetCenterOfMassTransform(const BodyID &inBodyID) const; 

    void                        MoveKinematic(const BodyID &inBodyID, RVec3Arg inTargetPosition, QuatArg inTargetRotation, float inDeltaTime);

    void                        SetLinearAndAngularVelocity(const BodyID &inBodyID, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity);
    void                        GetLinearAndAngularVelocity(const BodyID &inBodyID, Vec3 &outLinearVelocity, Vec3 &outAngularVelocity) const;
    void                        SetLinearVelocity(const BodyID &inBodyID, Vec3Arg inLinearVelocity); 
    Vec3                        GetLinearVelocity(const BodyID &inBodyID) const; 
    void                        AddLinearVelocity(const BodyID &inBodyID, Vec3Arg inLinearVelocity); 
    void                        AddLinearAndAngularVelocity(const BodyID &inBodyID, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity); 
    void                        SetAngularVelocity(const BodyID &inBodyID, Vec3Arg inAngularVelocity); 
    Vec3                        GetAngularVelocity(const BodyID &inBodyID) const; 
    Vec3                        GetPointVelocity(const BodyID &inBodyID, RVec3Arg inPoint) const; 

    void                        SetPositionRotationAndVelocity(const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity);

    void                        AddForce(const BodyID &inBodyID, Vec3Arg inForce, EActivation inActivationMode = EActivation::Activate); 
    void                        AddForce(const BodyID &inBodyID, Vec3Arg inForce, RVec3Arg inPoint, EActivation inActivationMode = EActivation::Activate); 
    void                        AddTorque(const BodyID &inBodyID, Vec3Arg inTorque, EActivation inActivationMode = EActivation::Activate); 
    void                        AddForceAndTorque(const BodyID &inBodyID, Vec3Arg inForce, Vec3Arg inTorque, EActivation inActivationMode = EActivation::Activate); 

    void                        AddImpulse(const BodyID &inBodyID, Vec3Arg inImpulse); 
    void                        AddImpulse(const BodyID &inBodyID, Vec3Arg inImpulse, RVec3Arg inPoint); 
    void                        AddAngularImpulse(const BodyID &inBodyID, Vec3Arg inAngularImpulse); 
    bool                        ApplyBuoyancyImpulse(const BodyID &inBodyID, RVec3Arg inSurfacePosition, Vec3Arg inSurfaceNormal, float inBuoyancy, float inLinearDrag, float inAngularDrag, Vec3Arg inFluidVelocity, Vec3Arg inGravity, float inDeltaTime); 

    EBodyType                   GetBodyType(const BodyID &inBodyID) const; 

    void                        SetMotionType(const BodyID &inBodyID, EMotionType inMotionType, EActivation inActivationMode); 
    EMotionType                 GetMotionType(const BodyID &inBodyID) const; 

    void                        SetMotionQuality(const BodyID &inBodyID, EMotionQuality inMotionQuality); 
    EMotionQuality              GetMotionQuality(const BodyID &inBodyID) const; 

    Mat44                       GetInverseInertia(const BodyID &inBodyID) const; 

    void                        SetRestitution(const BodyID &inBodyID, float inRestitution); 
    float                       GetRestitution(const BodyID &inBodyID) const; 

    void                        SetFriction(const BodyID &inBodyID, float inFriction); 
    float                       GetFriction(const BodyID &inBodyID) const; 

    void                        SetGravityFactor(const BodyID &inBodyID, float inGravityFactor); 
    float                       GetGravityFactor(const BodyID &inBodyID) const; 

    void                        SetMaxLinearVelocity(const BodyID &inBodyID, float inLinearVelocity); 
    float                       GetMaxLinearVelocity(const BodyID &inBodyID) const; 

    void                        SetMaxAngularVelocity(const BodyID &inBodyID, float inAngularVelocity); 
    float                       GetMaxAngularVelocity(const BodyID &inBodyID) const; 

    void                        SetUseManifoldReduction(const BodyID &inBodyID, bool inUseReduction); 
    bool                        GetUseManifoldReduction(const BodyID &inBodyID) const; 

    void                        SetIsSensor(const BodyID &inBodyID, bool inIsSensor); 
    bool                        IsSensor(const BodyID &inBodyID) const; 

    void                        SetCollisionGroup(const BodyID &inBodyID, const CollisionGroup &inCollisionGroup); 
    const CollisionGroup &      GetCollisionGroup(const BodyID &inBodyID) const; 

    TransformedShape            GetTransformedShape(const BodyID &inBodyID) const;

    uint64                      GetUserData(const BodyID &inBodyID) const;
    void                        SetUserData(const BodyID &inBodyID, uint64 inUserData) const;

    const PhysicsMaterial *     GetMaterial(const BodyID &inBodyID, const SubShapeID &inSubShapeID) const;

    void                        InvalidateContactCache(const BodyID &inBodyID);
 
private:
    JPH_INLINE void             ActivateBodyInternal(Body &ioBody) const;
 
    BodyLockInterface *         mBodyLockInterface = nullptr;
    BodyManager *               mBodyManager = nullptr;
    BroadPhase *                mBroadPhase = nullptr;
};
 
JPH_NAMESPACE_END