Character.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Character/CharacterBase.h>
#include <Jolt/Physics/Collision/ObjectLayer.h>
#include <Jolt/Physics/Collision/TransformedShape.h>
#include <Jolt/Physics/EActivation.h>
#include <Jolt/Physics/Body/AllowedDOFs.h>
 
JPH_NAMESPACE_BEGIN

class JPH_EXPORT CharacterSettings : public CharacterBaseSettings
{
public:
    JPH_OVERRIDE_NEW_DELETE

                                        CharacterSettings() = default;
                                        CharacterSettings(const CharacterSettings &) = default;
    CharacterSettings &                 operator = (const CharacterSettings &) = default;

    ObjectLayer                         mLayer = 0;

    float                               mMass = 80.0f;

    float                               mFriction = 0.2f;

    float                               mGravityFactor = 1.0f;

    EAllowedDOFs                        mAllowedDOFs = EAllowedDOFs::TranslationX | EAllowedDOFs::TranslationY | EAllowedDOFs::TranslationZ;
};

class JPH_EXPORT Character : public CharacterBase
{
public:
    JPH_OVERRIDE_NEW_DELETE

                                        Character(const CharacterSettings *inSettings, RVec3Arg inPosition, QuatArg inRotation, uint64 inUserData, PhysicsSystem *inSystem);

    virtual                             ~Character() override;

    void                                AddToPhysicsSystem(EActivation inActivationMode = EActivation::Activate, bool inLockBodies = true);

    void                                RemoveFromPhysicsSystem(bool inLockBodies = true);

    void                                Activate(bool inLockBodies = true);

    void                                PostSimulation(float inMaxSeparationDistance, bool inLockBodies = true);

    void                                SetLinearAndAngularVelocity(Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity, bool inLockBodies = true);

    Vec3                                GetLinearVelocity(bool inLockBodies = true) const;

    void                                SetLinearVelocity(Vec3Arg inLinearVelocity, bool inLockBodies = true);

    void                                AddLinearVelocity(Vec3Arg inLinearVelocity, bool inLockBodies = true);

    void                                AddImpulse(Vec3Arg inImpulse, bool inLockBodies = true);

    BodyID                              GetBodyID() const                                       { return mBodyID; }

    void                                GetPositionAndRotation(RVec3 &outPosition, Quat &outRotation, bool inLockBodies = true) const;

    void                                SetPositionAndRotation(RVec3Arg inPosition, QuatArg inRotation, EActivation inActivationMode = EActivation::Activate, bool inLockBodies = true) const;

    RVec3                               GetPosition(bool inLockBodies = true) const;

    void                                SetPosition(RVec3Arg inPosition, EActivation inActivationMode = EActivation::Activate, bool inLockBodies = true);

    Quat                                GetRotation(bool inLockBodies = true) const;

    void                                SetRotation(QuatArg inRotation, EActivation inActivationMode = EActivation::Activate, bool inLockBodies = true);

    RVec3                               GetCenterOfMassPosition(bool inLockBodies = true) const;

    RMat44                              GetWorldTransform(bool inLockBodies = true) const;

    ObjectLayer                         GetLayer() const                                        { return mLayer; }

    void                                SetLayer(ObjectLayer inLayer, bool inLockBodies = true);

    bool                                SetShape(const Shape *inShape, float inMaxPenetrationDepth, bool inLockBodies = true);

    TransformedShape                    GetTransformedShape(bool inLockBodies = true) const;

    void                                CheckCollision(RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, bool inLockBodies = true) const;

    CharacterSettings                   GetCharacterSettings(bool inLockBodies = true) const;
 
private:
    void                                CheckCollision(RMat44Arg inCenterOfMassTransform, Vec3Arg inMovementDirection, float inMaxSeparationDistance, const Shape *inShape, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, bool inLockBodies) const;

    void                                CheckCollision(const Shape *inShape, float inMaxSeparationDistance, RVec3Arg inBaseOffset, CollideShapeCollector &ioCollector, bool inLockBodies) const;

    BodyID                              mBodyID;

    ObjectLayer                         mLayer;
};
 
JPH_NAMESPACE_END