PhysicsCollider.hpp

#pragma once
#include "PhysXDefines.h"
#include <PxMaterial.h>
#include <PxPhysics.h>
#include <PxSimulationEventCallback.h>
#include "DebugDrawer.hpp"
#include "mathtypes.hpp"
#include "PhysicsMaterial.hpp"
#include "Common3D.hpp"
#include "Ref.hpp"
#include "MeshAsset.hpp"
 
namespace physx {
    class PxShape;
}
 
namespace RavEngine {
    struct PhysicsBodyComponent;
    struct Transform;
    class PhysicsCollider
    {
        friend class PhysicsBodyComponent;
    protected:
        physx::PxShape* collider = nullptr;
        Ref<PhysicsMaterial> material;
        
        matrix4 CalculateWorldMatrix(const RavEngine::Transform&) const;
    public:
        enum class CollisionType { Trigger, Collider };
        void UpdateFilterData(PhysicsBodyComponent* owner);
        void SetType(CollisionType);
 
        CollisionType GetType() const;
 
        void SetQueryable(bool);
 
        bool GetQueryable() const;
                        
        void SetRelativeTransform(const vector3& position, const quaternion& rotation);
        
        Transformation GetRelativeTransform() const;
        
        virtual void DebugDraw(RavEngine::DebugDrawer& dbg, color_t debug_color, const RavEngine::Transform&) const{}
    };
 
 
    class BoxCollider : public PhysicsCollider {
    protected:
        vector3 extent;
    public:
 
        virtual ~BoxCollider() {}
 
        BoxCollider(PhysicsBodyComponent* owner, const vector3& ext, Ref<PhysicsMaterial> mat, const vector3& position = vector3(0, 0, 0), const quaternion& rotation = quaternion(1.0, 0.0, 0.0, 0.0));
        
        void DebugDraw(RavEngine::DebugDrawer& dbg, color_t, const RavEngine::Transform&) const override;
 
    };
 
    class SphereCollider : public PhysicsCollider {
    public:
        
        SphereCollider(PhysicsBodyComponent* owner, decimalType radius, Ref<PhysicsMaterial> mat, const vector3& position = vector3(0,0,0), const quaternion& rotation = quaternion(1.0, 0.0, 0.0, 0.0));
        
        void DebugDraw(RavEngine::DebugDrawer& dbg, color_t, const RavEngine::Transform&) const override;
        
        decimalType GetRadius() const;
    };
 
    class CapsuleCollider : public PhysicsCollider {
    protected:
        decimalType radius;
        decimalType halfHeight;
    public:
        CapsuleCollider(PhysicsBodyComponent* owner, decimalType r, decimalType hh, Ref<PhysicsMaterial> mat, const vector3& position = vector3(0,0,0), const quaternion& rotation = quaternion(1.0, 0.0, 0.0, 0.0));
        
        void DebugDraw(RavEngine::DebugDrawer& dbg, color_t, const RavEngine::Transform&) const override;
    };
 
    struct MeshCollider : public PhysicsCollider {
        MeshCollider(PhysicsBodyComponent* owner, Ref<MeshAsset> mesh, Ref<PhysicsMaterial> mat);
        
#ifndef NDEBUG
        Ref<MeshAsset> mesh;    // used for debug wireframe
#endif
        
        void DebugDraw(RavEngine::DebugDrawer& dbg, color_t, const RavEngine::Transform&) const override;
    };
 
    struct ConvexMeshCollider : public PhysicsCollider {
        
        ConvexMeshCollider(PhysicsBodyComponent*, Ref<MeshAsset> mesh, Ref<PhysicsMaterial> mat);
        
        void DebugDraw(RavEngine::DebugDrawer& dbg, color_t, const RavEngine::Transform&) const override{
            //TODO: debug draw mesh collider
        }
    };
}