VehicleInfo.h

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#pragma once
#include <vector>
#include <memory>
#include <string>
 
#include "Vector.h"
#include "Matrix.h"
#include "OBase.h"
 
 
namespace dyno {
 
    enum ConfigMotionType
    {
        CMT_Static = 0,
        CMT_Kinematic = 1,
        CMT_Dynamic = 2,
    };
 
    enum ConfigShapeType
    {
        Box = 1,
        Tet = 2,
        Capsule = 4,
        Sphere = 8,
        Tri = 16,
        OtherShape = 0x80000000
    };
 
    enum ConfigJointType
    {
        BallAndSocket = 1,
        Slider = 2,
        Hinge = 3,
        Fixed = 4,
        Point = 5,
        OtherJoint = 0x80000000
    };
 
    struct Name_Shape 
    {
        //Func
        Name_Shape() {};
        Name_Shape(std::string n,int Id = -1) 
        {
            name = n;
            rigidBodyId = Id;
        }
 
        //Var
        std::string name = "";
        int rigidBodyId = -1;
 
    };

    struct VehicleRigidBodyInfo 
    {   
        VehicleRigidBodyInfo() {};
 
        VehicleRigidBodyInfo(Name_Shape name, int shapeId, ConfigShapeType type,Real density = 100) //
        {
            shapeName = name;
            meshShapeId = shapeId;
            shapeType = type;
            mDensity = density;
        };
 
        VehicleRigidBodyInfo(Name_Shape name, int shapeId, ConfigShapeType type, Transform3f trans, Real density = 100) //
        {
            shapeName = name;
            meshShapeId = shapeId;
            shapeType = type;
            transform = trans;
            mDensity = density;
        };
 
        //Shape:
        Name_Shape shapeName = Name_Shape("");
 
        int meshShapeId = -1;
        ConfigShapeType shapeType = ConfigShapeType::Capsule;
        Transform3f transform = Transform3f(Vec3f(0), Mat3f::identityMatrix(), Vec3f(1));
        Vec3f Offset = Vec3f(0);
 
        Vec3f mHalfLength = Vec3f(1);      // if(type == Box); 
        float radius = 1;                 //  if(type == Sphere);  if(type == Capsule);
        std::vector<Vec3f> tet = {Vec3f(0),Vec3f(0),Vec3f(0),Vec3f(0,1,0) }; //  if(type == Tet);
        float capsuleLength = 1;           // if(type == Capsule);
        ConfigMotionType motion = ConfigMotionType::CMT_Dynamic;
 
        Real mDensity = 100;
 
        uint rigidGroup = 0;
    };

    struct VehicleJointInfo
    {
        VehicleJointInfo() {};
        VehicleJointInfo(
            Name_Shape Name1,
            Name_Shape Name2,
            ConfigJointType typeIn,
            Vector<Real, 3> Axi = Vec3f(1, 0, 0),
            Vector<Real, 3> Point = Vec3f(0),
            bool Moter = false,
            Real moter = 0,
            bool Range = false,
            Real min = 0,
            Real max = 0
        ) 
        {
            mRigidBodyName_1 = Name1;
            mRigidBodyName_2 = Name2;
            mUseMoter = Moter;
            mUseRange = Range;
            mAnchorPoint = Point;
            mMin = min;
            mMax = max;
            mMoter = moter;
            mAxis = Axi;
            mJointType = typeIn;
        }
 
        ConfigJointType mJointType;
        Name_Shape mRigidBodyName_1;
        Name_Shape mRigidBodyName_2;
        bool mUseMoter = false;
        bool mUseRange = false;
        Vector<Real, 3> mAnchorPoint = Vec3f(0);
        Real mMin = 0;
        Real mMax = 0;
        Real mMoter = 0;
        Vector<Real, 3> mAxis = Vector<Real, 3>(1,0,0);
    };
 

    class VehicleBind 
    {
    public:
        VehicleBind() {};
        VehicleBind(int size) 
        {
            mVehicleRigidBodyInfo.resize(size);
            for (int i = 0; i < mVehicleRigidBodyInfo.size(); i++)
            {
                mVehicleRigidBodyInfo[i].shapeName = Name_Shape(std::string("Rigid") + std::to_string(i),i);
                mVehicleRigidBodyInfo[i].meshShapeId = i;
            }
            mVehicleJointInfo.resize(size);
        }
        ~VehicleBind() 
        {
            mVehicleRigidBodyInfo.clear();
            mVehicleJointInfo.clear();
        }
 
        bool isValid() 
        {
            return mVehicleRigidBodyInfo.size();
        }
 
        std::vector<VehicleRigidBodyInfo> mVehicleRigidBodyInfo;
        std::vector<VehicleJointInfo> mVehicleJointInfo;
 
    };
 
 
}