DynamicBody.h

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// Copyright © 2008-2023 Pioneer Developers. See AUTHORS.txt for details
// Licensed under the terms of the GPL v3. See licenses/GPL-3.txt
 
#ifndef _DYNAMICBODY_H
#define _DYNAMICBODY_H
 
#include "ModelBody.h"
#include "matrix4x4.h"
#include "vector3.h"
 
class Propulsion;
class FixedGuns;
class Orbit;
 
class DynamicBody : public ModelBody {
private:
    friend class Propulsion;
    friend class FixedGuns;
 
public:
    OBJDEF(DynamicBody, ModelBody, DYNAMICBODY);
    DynamicBody();
    DynamicBody(const Json &jsonObj, Space *space);
    virtual ~DynamicBody();
 
    virtual vector3d GetVelocity() const override;
    virtual void SetVelocity(const vector3d &v) override;
    virtual void SetFrame(FrameId fId) override;
    vector3d GetAngVelocity() const override;
    void SetAngVelocity(const vector3d &v) override;
    virtual bool OnCollision(Body *o, Uint32 flags, double relVel) override;
    vector3d GetAngularMomentum() const;
    double GetAngularInertia() const { return m_angInertia; }
    void SetMassDistributionFromModel();
    void SetMoving(bool isMoving);
    bool IsMoving() const { return m_isMoving; }
    virtual double GetMass() const override { return m_mass; } // XXX don't override this
    virtual void TimeStepUpdate(const float timeStep) override;
    double CalcAtmosphericDrag(double velSqr, double area, double coeff) const;
    void CalcExternalForce();
 
    void SetMass(double);
    void AddForce(const vector3d &);
    void AddTorque(const vector3d &);
    void SetForce(const vector3d &);
    void SetTorque(const vector3d &);
    vector3d GetLastForce() const { return m_lastForce; }
    vector3d GetLastTorque() const { return m_lastTorque; }
    // body-relative forces
    void AddRelForce(const vector3d &);
    void AddRelTorque(const vector3d &);
    vector3d GetExternalForce() const { return m_externalForce; }
    vector3d GetAtmosForce() const { return m_atmosForce; }
    vector3d GetGravityForce() const { return m_gravityForce; }
    virtual void UpdateInterpTransform(double alpha) override;
 
    virtual void PostLoadFixup(Space *space) override;
 
    Orbit ComputeOrbit() const;
 
    /* TODO: This is a big simplification...
     * something better because AI on dynamic is
     * a "loose" thing (also see AIError m_aiMessage
     * in line 83)
    */
    enum AIError { // <enum scope='Ship' name=ShipAIError prefix=AIERROR_ public>
        AIERROR_NONE = 0,
        AIERROR_GRAV_TOO_HIGH,
        AIERROR_REFUSED_PERM,
        AIERROR_PRESS_TOO_HIGH,
        AIERROR_ORBIT_IMPOSSIBLE
    };
    AIError AIMessage(AIError msg = AIERROR_NONE)
    {
        AIError tmp = m_aiMessage;
        m_aiMessage = msg;
        return tmp;
    }
 
    void SetDecelerating(bool decel) { m_decelerating = decel; }
 
protected:
    virtual void SaveToJson(Json &jsonObj, Space *space) override;
 
    void GetCurrentAtmosphericState(double &pressure, double &density) const;
 
    virtual vector3d CalcAtmosphericForce() const;
 
    static const double DEFAULT_DRAG_COEFF;
 
    double m_dragCoeff;
 
    bool m_decelerating;
    AIError m_aiMessage;
 
private:
    vector3d m_oldPos;
    vector3d m_oldAngDisplacement;
 
    vector3d m_force;
    vector3d m_torque;
    vector3d m_vel;
    vector3d m_angVel;
    double m_mass;
    double m_massRadius; // set in a mickey-mouse fashion from the collision mesh and used to calculate m_angInertia
    double m_angInertia; // always sphere mass distribution
    bool m_isMoving;
 
    vector3d m_externalForce;
    vector3d m_atmosForce;
    vector3d m_gravityForce;
    // for time accel reduction fudge
    vector3d m_lastForce;
    vector3d m_lastTorque;
};
 
#endif /* _DYNAMICBODY_H */