RigidBodyShared.h

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#pragma once
 
#include "Vector.h"
#include "Matrix.h"
#include "Quat.h"
 
#include "Collision/CollisionData.h"
#include "Topology/DiscreteElements.h"
 
namespace dyno
{
    enum MotionType
    {
        MT_Static = 0,
        MT_Kinematic,
        MT_Dynamic,
    };
 
    // Custom get and set functions for v member
    static void set_v(TetInfo& obj, const std::vector<Vec3f>& values) {
        if (values.size() != 4) {
            throw std::runtime_error("TetInfo.v must be a list of 4 Vec3f elements.");
        }
        for (size_t i = 0; i < 4; ++i) {
            obj.v[i] = values[i];
        }
    }
 
    static std::vector<Vec3f> get_v(const TetInfo& obj) {
        std::vector<Vec3f> values;
        for (size_t i = 0; i < 4; ++i) {
            values.push_back(obj.v[i]);
        }
        return values;
    }
 
    struct RigidBodyInfo
    {
        RigidBodyInfo()
        {
            linearVelocity = Vector<Real, 3>(0.0f);
            angularVelocity = Vector<Real, 3>(0.0f);
            position = Vector<Real, 3>(0.0f);
            offset = Vector<Real, 3>(0.0f);
            bodyId = 0;
            mass = -1.0f;
            inertia = SquareMatrix<Real, 3>(0.0f);
            friction = 1.0f;
            restitution = 0.0f;
            motionType = BodyType::Dynamic;
            collisionMask = CT_AllObjects;
            shapeType = ET_Other;
            angle = Quat<Real>(0.0f, 0.0f, 0.0f, 1.0f);
        }
 
        RigidBodyInfo(Vector<Real, 3> p, Quat<Real> q = Quat<Real>(0.0f, 0.0f, 0.0f, 1.0f))
        {
            linearVelocity = Vector<Real, 3>(0.0f);
            angularVelocity = Vector<Real, 3>(0.0f);
            position = p;
            offset = Vector<Real, 3>(0.0f);
            bodyId = 0;
            mass = -1.0f;
            inertia = SquareMatrix<Real, 3>(0.0f);
            friction = 1.0f;
            restitution = 0.0f;
            motionType = BodyType::Dynamic;
            collisionMask = CT_AllObjects;
            shapeType = ET_Other;
            angle = q;
        }
 
        Quat<Real> angle;

        Vector<Real, 3> linearVelocity;

        Vector<Real, 3> angularVelocity;

        Vector<Real, 3> position;

        Vector<Real, 3> offset;

        SquareMatrix<Real, 3> inertia;
 
        uint bodyId;
 
        Real mass;
 
        Real friction;
 
        Real restitution;
 
        BodyType motionType;
        
        ElementType shapeType;
 
        CollisionMask collisionMask;
    };
}