rigidBody.h

 
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
 
#include "core.h"
#include <vector>
#include <Math\Vec2.h>
#include <Entities\component.h>
#include <Entities\gameObject.h>
#include <Renderer\rectangleShape.h>
 
namespace physics{
 
//Forward declaration of rigid body class
class RigidBody;
 
struct collision
{
 
    RigidBody* objectOne;
    RigidBody* objectTwo;
    rune::Vec2 normalVector;
    double depth;
 
    collision() : objectOne(nullptr), objectTwo(nullptr), normalVector(rune::Vec2(0,0)), depth(0)
    {
    
    }
 
};
 
struct AABB
{
 
  rune::Vec2 min;
  rune::Vec2 max;
 
  AABB() : min(rune::Vec2(0,0)), max(rune::Vec2(0,0))
  {
  
  }
 
};
 
struct body
{
  rune::Vec2 vertexes[4]; 
  AABB boundingBox; 
  double xPos;
  double yPos; 
  rune::Vec2 oldPosition; 
  rune::Vec2 velocity; 
  double invMass; 
  rune::Vec2 gravityFactor; 
 
  double restitution; 
  double staticFriction; 
  double dynamicFriction; 
  
  double angleOfRotation; 
  double angularVelocity; 
  double torque; 
  double invInertia; 
  double rotationalRadius; 
 
};
 
class RUNE_ENGINE RigidBody : public rune::Component
{
 
private:
    body objectBody;
    std::vector<collision> involvedCollisions;
 
public:
    virtual void start();
    RigidBody(double mass = 0, rune::Vec2 gravity = rune::Vec2(0,0));
    void setUpObject(int width, int height, double mass, bool rotation);
    void updateAABB();
    void setMass(float newMass);
    AABB getBoundingBox(void);
    void addAngularVelocity(double angularVel);
    void setRotation(double angle);
    void setPosition(rune::Vec2);
    void addPosition(rune::Vec2 newPos);
    rune::Vec2 getPosition(void);
    void addVelocity(rune::Vec2);
    void updatePosition(double dT);
    void interpolatePosition(double alpha);
    rune::Vec2 getGravity(void);
    rune::Vec2 getVelocity(void);
    void setVelocity(rune::Vec2);
    rune::Vec2 getVertex(int);
    double getInvMass(void);
    double getInvIntertia(void);
    double getRestitution(void);
    void setRestitution(double);
    double getStaticFriction(void);
    void setStaticFriction(float friction);
    double getDynamicFriction(void);
    void setDynamicFriction(float friction);
    double getOrientation(void);
    double getWidth(void);
    double getHeight(void);
    rune::Vec2 getPreviousPosition(void);
    void setPreviousPosition(rune::Vec2);
    void clearCollisions(void);
    void addCollision(collision);
    std::vector<collision> getCollisions(void);
    body* getBodyStruct(void);
 
};
}
 
#endif