Frame.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 _FRAME_H
#define _FRAME_H
 
#include "FrameId.h"
 
#include "IterationProxy.h"
#include "JsonFwd.h"
#include "matrix3x3.h"
#include "matrix4x4.h"
#include "vector3.h"
#include <list>
#include <string>
 
class Body;
class CollisionSpace;
class Geom;
class SystemBody;
class SfxManager;
class Space;
 
struct CollisionContact;
 
// Frame of reference.
 
class Frame {
    // Used to avoid direct instantiation of Frames: use factory methods instead.
    // TODO: Find a better way, as checking it at compile time
    struct Dummy;
 
public:
    Frame() = delete;
    Frame(const Dummy &d, FrameId parent, const char *label, unsigned int flags = FLAG_DEFAULT, double radius = 0.0);
    // Used *only* for Camera frame:
    // it doesn't set up CollisionSpace, and use default values for label, flags and radius
    Frame(const Dummy &d, FrameId parent);
 
    Frame(const Frame &) = delete;
    Frame(Frame &&) noexcept;
    Frame &operator=(Frame &&);
 
    ~Frame();
 
    enum { FLAG_DEFAULT = (0),
        FLAG_ROTATING = (1 << 1),
        FLAG_HAS_ROT = (1 << 2) };
 
    static FrameId CreateFrame(FrameId parent, const char *label, unsigned int flags = FLAG_DEFAULT, double radius = 0.0);
    static FrameId FromJson(const Json &jsonObj, Space *space, FrameId parent, double at_time);
 
    // Used to speed up creation/deletion of Frame for camera
    static FrameId CreateCameraFrame(FrameId parent);
    static void DeleteCameraFrame(FrameId camera);
 
    static void ToJson(Json &jsonObj, FrameId fId, Space *space);
    static void PostUnserializeFixup(FrameId fId, Space *space);
 
    static void DeleteFrames();
 
    static Frame *GetFrame(FrameId FId);
 
    FrameId GetId() const { return m_thisId; }
 
    const std::string &GetLabel() const { return m_label; }
    void SetLabel(const char *label) { m_label = label; }
 
    void SetPosition(const vector3d &pos) { m_pos = pos; }
    vector3d GetPosition() const { return m_pos; }
    void SetInitialOrient(const matrix3x3d &m, double time);
    void SetOrient(const matrix3x3d &m, double time);
    const matrix3x3d &GetOrient() const { return m_orient; }
    const matrix3x3d &GetInterpOrient() const { return m_interpOrient; }
    void SetVelocity(const vector3d &vel) { m_vel = vel; }
    vector3d GetVelocity() const { return m_vel; }
    void SetAngSpeed(const double angspeed) { m_angSpeed = angspeed; }
    double GetAngSpeed() const { return m_angSpeed; }
    void SetRadius(double radius) { m_radius = radius; }
    double GetRadius() const { return m_radius; }
    bool IsRotFrame() const { return m_flags & FLAG_ROTATING; }
    bool HasRotFrame() const { return m_flags & FLAG_HAS_ROT; }
 
    FrameId GetParent() const { return m_parent; }
    FrameId GetNonRotFrame() const { return IsRotFrame() ? m_parent : m_thisId; }
    FrameId GetRotFrame() const { return HasRotFrame() ? m_children.front() : m_thisId; }
 
    void SetBodies(SystemBody *s, Body *b)
    {
        m_sbody = s;
        m_astroBody = b;
    }
    SystemBody *GetSystemBody() const { return m_sbody; }
    Body *GetBody() const { return m_astroBody; }
 
    void AddChild(FrameId fId) { m_children.push_back(fId); }
    void RemoveChild(FrameId fId);
    bool HasChildren() const { return !m_children.empty(); }
    unsigned GetNumChildren() const { return static_cast<Uint32>(m_children.size()); }
    IterationProxy<std::vector<FrameId>> GetChildren() { return MakeIterationProxy(m_children); }
    const IterationProxy<const std::vector<FrameId>> GetChildren() const { return MakeIterationProxy(m_children); }
 
    void AddGeom(Geom *);
    void RemoveGeom(Geom *);
    void AddStaticGeom(Geom *);
    void RemoveStaticGeom(Geom *);
    // TODO: Should be a Planet or there's a needs for a Body?
    void SetPlanetGeom(double radius, Body *);
    CollisionSpace *GetCollisionSpace() const;
 
    static void UpdateOrbitRails(double time, double timestep);
    static void CollideFrames(void (*callback)(CollisionContact *));
    void UpdateInterpTransform(double alpha);
    void ClearMovement();
 
    // For an object in a rotating frame, relative to non-rotating frames it
    // must attain this velocity within rotating frame to be stationary.
    vector3d GetStasisVelocity(const vector3d &pos) const { return -vector3d(0, m_angSpeed, 0).Cross(pos); }
 
    vector3d GetPositionRelTo(FrameId relTo) const;
    vector3d GetVelocityRelTo(FrameId relTo) const;
    matrix3x3d GetOrientRelTo(FrameId relTo) const;
    matrix4x4d GetTransformRelTo(FrameId relTo) const;
 
    // Same as above except it does interpolation between
    // physics ticks so rendering is smooth above physics hz
    vector3d GetInterpPositionRelTo(FrameId relTo) const;
    matrix3x3d GetInterpOrientRelTo(FrameId relTo) const;
    matrix4x4d GetInterpTransformRelTo(FrameId relTo) const;
 
    static void GetFrameTransform(FrameId fFrom, FrameId fTo, matrix4x4d &m);
 
    std::unique_ptr<SfxManager> m_sfx; // the last survivor. actually m_children is pretty grim too.
 
private:
    FrameId m_thisId;
 
    void UpdateRootRelativeVars();
 
    FrameId m_parent;                // if parent is null then frame position is absolute
    std::vector<FrameId> m_children; // child frames, first may be rotating
    SystemBody *m_sbody;             // points to SBodies in Pi::current_system
    Body *m_astroBody;               // if frame contains a star or planet or something
 
    vector3d m_pos;
    vector3d m_oldPos;
    vector3d m_interpPos;
    matrix3x3d m_initialOrient;
    matrix3x3d m_orient;
    matrix3x3d m_interpOrient;
    vector3d m_vel;    // note we don't use this to move frame. rather,
                       // orbital rails determine velocity.
    double m_angSpeed; // this however *is* directly applied (for rotating frames)
    double m_oldAngDisplacement;
    std::string m_label;
    double m_radius;
    int m_flags;
    int m_collisionSpace;
 
    vector3d m_rootVel; // velocity, position and orient relative to root frame
    vector3d m_rootPos; // updated by UpdateOrbitRails
    matrix3x3d m_rootOrient;
    vector3d m_rootInterpPos;      // interp position and orient relative to root frame
    matrix3x3d m_rootInterpOrient; // updated by UpdateInterpTransform
 
    int m_astroBodyIndex; // deserialisation
 
    static std::vector<Frame> s_frames;
    static std::vector<CollisionSpace> s_collisionSpaces;
 
    // A trick in order to avoid a direct call of ctor or dtor: use factory methods instead
    struct Dummy {
        Dummy() :
            madeWithFactory(false)
        {}
        bool madeWithFactory;
    };
 
    Dummy d;
};
 
#endif /* _FRAME_H */