Refactor and document Rigidbody

core/Rigidbody.cpp

@@ -1,3 +1,24 @@
+/*
+  Dane Johnson <dane@danejohnson.org>
+ 
+  LICENSE
+ 
+  Couch  Copyright (C) 2021 Dane Johnson
+
+  This program comes with ABSOLUTELY NO WARRANTY; without event the
+  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU General Public License for details at
+  https://www.gnu.org/licenses/gpl-3.0.html
+  
+  This is free software, and you are welcome to redistribute it
+  under the terms of the GNU General Public License as published
+  by the Free Software Foundation; either version 3 of the License,
+  or (at your option) any later version.
+ 
+  DESCRIPTION
+ 
+  Defines physics bodies and their interfaces with the physics engine
+*/
 #include "Rigidbody.h"
 #include "World.h"
 
@@ -31,6 +52,15 @@ Rigidbody *Rigidbody::Instance() {
   return rigidbody;
 }
 
+void Rigidbody::Translate(Vector3 offset) {
+  Spatial::Translate(offset);
+  if (not IsPrefab()) {
+    btBody->translate(btVector3(offset.x,
+				offset.y,
+				offset.z));
+  }
+}
+
 void Rigidbody::SetCollisionShape(CollisionShape collisionShape) {
   if (this->collisionShape) {
     delete this->collisionShape;
@@ -38,6 +68,17 @@ void Rigidbody::SetCollisionShape(CollisionShape collisionShape) {
   this->collisionShape = collisionShape.shape;
 }
 
+cfloat Rigidbody::GetMass() {
+  return mass;
+}
+
+void Rigidbody::SetMass(cfloat mass) {
+  this->mass = mass;
+  if (not IsPrefab()) {
+    btBody->setMassProps(mass, btVector3(0, 0, 0));
+  }
+}
+
 void Rigidbody::ApplyImpulse(Vector3 impulse) {
   btBody->applyCentralImpulse(btVector3(impulse.x, impulse.y, impulse.z));
 }
@@ -46,6 +87,11 @@ void Rigidbody::ApplyForce(Vector3 force) {
   btBody->applyCentralForce(btVector3(force.x, force.y, force.z));
 }
 
+
+bool Rigidbody::GetCharacter() {
+  return character;
+}
+
 void Rigidbody::SetCharacter(bool character) {
   this->character = character;
 }

core/Rigidbody.h

@@ -1,3 +1,25 @@
+/**
+   @file
+   @author Dane Johnson <dane@danejohnson.org>
+ 
+   @section LICENSE
+ 
+   Couch  Copyright (C) 2021 Dane Johnson
+
+   This program comes with ABSOLUTELY NO WARRANTY; without event the
+   implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+   See the GNU General Public License for details at
+   https://www.gnu.org/licenses/gpl-3.0.html
+  
+   This is free software, and you are welcome to redistribute it
+   under the terms of the GNU General Public License as published
+   by the Free Software Foundation; either version 3 of the License,
+   or (at your option) any later version.
+ 
+   @section DESCRIPTION
+ 
+   Defines physics bodies and their interfaces with the physics engine
+*/
 #ifndef RIGIDBODY_H
 #define RIGIDBODY_H
 
@@ -7,24 +29,72 @@
 #include "Spatial.h"
 #include "CollisionShape.h"
 
+/**
+   Rigidbodies are any body that interacts with the physics bodies
+*/
 class Rigidbody : public Spatial {
 public:
   Rigidbody();
+
+  /**
+     Directly translate this physics object.
+     @param offset The desired translation offset.
+  */
+  virtual void Translate(Vector3 offset);
+    
+
+  /**
+     Sets the collision shape of this rigidbody
+     @param collisionShape The collision shape
+  */
+  void SetCollisionShape(CollisionShape collisionShape);
+  /**
+     Gets the mass of this rigidbody
+     @return The mass, 0.0 if this is an infinite mass object
+  */
+  cfloat GetMass();
+  /**
+     Sets the mass of this rigidbody.
+     Note that setting mass equal to 0.0 will make it an
+     infinite mass object
+     @param mass The desired mass
+  */
+  void SetMass(cfloat mass);
+  
+  /**
+     Add an instantaneous impulse to the object.
+     Probably shouldn't be called every update.
+     @param impulse The impulse vector
+  */
+  void ApplyImpulse(Vector3 impulse);
+  /**
+     Add a force to this object, scaled to the time step.
+     Can be called every update.
+     @param The (unscaled) force
+  */
+  void ApplyForce(Vector3 force);
+
+  /**
+     If this is a character object, meaning it's rotation is not 
+     controlled by the physics engine
+     @return true if this is a character object
+  */
+  bool GetCharacter();
+  /**
+     Sets if this object's rotation is controlled by the physics engine
+     @param character true if this is a character object
+  */
+  void SetCharacter(bool character);
+
   virtual Rigidbody *Create();
   virtual Rigidbody *Duplicate();
   virtual Rigidbody *Instance();
-  
-  void SetCollisionShape(CollisionShape collisionShape);
-  cfloat mass = 1.0f;
-
-  void ApplyImpulse(Vector3 impulse);
-  void ApplyForce(Vector3 force);
-
-  void SetCharacter(bool character);
 private:
   bool character = false;
   btRigidBody *btBody;
   btCollisionShape *collisionShape;
+  cfloat mass = 1.0f;
+  
   friend class World;
 };
 

core/Spatial.h

@@ -51,7 +51,7 @@ public:
      Directly translates the spatial by offset
      @param offset The offset of the transform operation
   */
-  void Translate(Vector3 offset);
+  virtual void Translate(Vector3 offset);
   /**
      Rotates the Camera phi radians about the X axis
      @param phi The amount to rotate in radians

demo/main.lua

@@ -71,7 +71,7 @@ function init()
    material.specular = WHITE * 0.1
    character_prefab:SetMaterial(0, material)
    local character_body = couch.Rigidbody()
-   character_body.mass = 1.0
+   character_body:SetMass(1.0)
    character_body:SetCollisionShape(couch.CapsuleCollisionShape(1.0, 1.0))
    character_body:SetCharacter(true)
    character_body:AddChild(character_prefab)
@@ -202,7 +202,7 @@ function make_ground()
 
    -- Add a collisionshape
    local ground_shape_prefab = couch.Rigidbody()
-   ground_shape_prefab.mass = 0.0
+   ground_shape_prefab:SetMass(0.0)
    ground_shape_prefab:SetCollisionShape(couch.BoxCollisionShape(180.0, 1.0, 180.0))
    ground_shape_prefab:Translate(couch.Vector3(0.0, -2.5, 0.0))
    ground:AddChild(ground_shape_prefab:Instance())