1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
|
#pragma once
#include <cmath>
#include <set>
#include "../Component.h"
#include "types.h"
namespace crepe {
/**
* \brief Rigidbody class
*
* This class is used by the physics sytem and collision system. It configures how to system
* interact with the gameobject for movement and collisions.
*/
class Rigidbody : public Component {
public:
/**
* \brief BodyType enum
*
* This enum provides three bodytypes the physics sytem and collision system use.
*/
enum class BodyType {
//! Does not move (e.g. walls, ground ...)
STATIC,
//! Moves and responds to forces (e.g. player, physics objects ...)
DYNAMIC,
//! Moves but does not respond to forces (e.g. moving platforms ...)
KINEMATIC,
};
/**
* \brief PhysicsConstraints to constrain movement
*
* This struct configures the movement constraint for this object. If a constraint is enabled
* the systems will not move the object.
*/
struct PhysicsConstraints {
//! Prevent movement along X axis
bool x = false;
//! Prevent movement along Y axis
bool y = false;
//! Prevent rotation
bool rotation = false;
};
public:
/**
* \brief struct for Rigidbody data
*
* This struct holds the data for the Rigidbody.
*/
struct Data {
//! objects mass
float mass = 0.0;
/**
* \brief Gravity scale factor.
*
* The `gravity_scale` controls how much gravity affects the object. It is a multiplier applied to the default
* gravity force, allowing for fine-grained control over how the object responds to gravity.
*
*/
float gravity_scale = 0;
//! Defines the type of the physics body, which determines how the physics system interacts with the object.
BodyType body_type = BodyType::DYNAMIC;
/**
* \name Linear (positional) motion
*
* These variables define the linear motion (movement along the position) of an object.
* The linear velocity is applied to the object's position in each update of the PhysicsSystem.
* The motion is affected by the object's linear velocity, its maximum velocity, and a coefficient
* that can scale the velocity over time.
*
* \{
*/
//! Linear velocity of the object (speed and direction).
vec2 linear_velocity;
//! Maximum linear velocity of the object. This limits the object's speed.
vec2 max_linear_velocity = {INFINITY, INFINITY};
//! Linear velocity coefficient. This scales the object's velocity for adjustment or damping.
vec2 linear_velocity_coefficient = {1, 1};
//! \}
/**
* \name Angular (rotational) motion
*
* These variables define the angular motion (rotation) of an object.
* The angular velocity determines how quickly the object rotates, while the maximum angular velocity
* sets a limit on the rotation speed. The angular velocity coefficient applies damping or scaling
* to the angular velocity, which can be used to simulate friction or other effects that slow down rotation.
*
* \{
*/
//! Angular velocity of the object, representing the rate of rotation (in degrees).
float angular_velocity = 0;
//! Maximum angular velocity of the object. This limits the maximum rate of rotation.
float max_angular_velocity = INFINITY;
//! Angular velocity coefficient. This scales the object's angular velocity, typically used for damping.
float angular_velocity_coefficient = 1;
//! \}
/**
* \brief Movement constraints for an object.
*
* The `PhysicsConstraints` struct defines the constraints that restrict an object's movement
* in certain directions or prevent rotation. These constraints effect only the physics system
* to prevent the object from moving or rotating in specified ways.
*
*/
PhysicsConstraints constraints;
/**
* \brief Elasticity factor of the material (bounce factor).
*
* The `elasticity_coefficient` controls how much of the object's velocity is retained after a collision.
* It represents the material's ability to bounce or recover velocity upon impact. The coefficient is a value
* above 0.0.
*
*/
float elastisity_coefficient = 0.0;
/**
* \brief Offset of all colliders relative to the object's transform position.
*
* The `offset` defines a positional shift applied to all colliders associated with the object, relative to the object's
* transform position. This allows for the colliders to be placed at a different position than the object's actual
* position, without modifying the object's transform itself.
*
*/
vec2 offset;
/**
* \brief Defines the collision layers of a GameObject.
*
* The `collision_layers` specifies the layers that the GameObject will collide with.
* Each element represents a layer ID, and the GameObject will only detect
* collisions with other GameObjects that belong to these layers.
*/
std::set<int> collision_layers;
};
public:
/**
* \param game_object_id id of the gameobject the rigibody is added to.
* \param data struct to configure the rigidbody.
*/
Rigidbody(game_object_id_t id, const Data & data);
//! struct to hold data of rigidbody
Data data;
public:
/**
* \brief add a linear force to the Rigidbody.
*
* \param force Vector2 that is added to the linear force.
*/
void add_force_linear(const vec2 & force);
/**
* \brief add a angular force to the Rigidbody.
*
* \param force Vector2 that is added to the angular force.
*/
void add_force_angular(float force);
protected:
/**
* Ensures there is at most one Rigidbody component per entity.
* \return Always returns 1, indicating this constraint.
*/
virtual int get_instances_max() const { return 1; }
//! ComponentManager instantiates all components
friend class ComponentManager;
};
} // namespace crepe
|