PhysicsWorld.h

/* ScummVM - Graphic Adventure Engine
 *
 * ScummVM is the legal property of its developers, whose names
 * are too numerous to list here. Please refer to the COPYRIGHT
 * file distributed with this source distribution.
 *
 * This program is free software: you can redistribute it and/or modify
 * 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.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of HPL1 Engine.
 */

#ifndef HPL_PHYSICS_WORLD_H
#define HPL_PHYSICS_WORLD_H

#include "hpl1/engine/graphics/GraphicsTypes.h"
#include "hpl1/engine/math/MathTypes.h"
#include "hpl1/engine/system/SystemTypes.h"
#include "common/stablemap.h"

#include "hpl1/engine/physics/CollideData.h"

#include "hpl1/engine/game/SaveGame.h"

namespace hpl {

class iCollideShape;
class iVertexBuffer;
class iPhysicsBody;
class iLowLevelGraphics;
class iPhysicsMaterial;
class iCharacterBody;
class iPhysicsJoint;
class iPhysicsJointBall;
class iPhysicsJointHinge;
class iPhysicsJointScrew;
class iPhysicsJointSlider;
class iPhysicsController;
class cWorld3D;
class cBoundingVolume;

typedef Common::List<iCollideShape *> tCollideShapeList;
typedef tCollideShapeList::iterator tCollideShapeListIt;

typedef Common::Array<iCollideShape *> tCollideShapeVec;
typedef tCollideShapeVec::iterator tCollideShapeVecIt;

typedef Common::List<iPhysicsBody *> tPhysicsBodyList;
typedef tPhysicsBodyList::iterator tPhysicsBodyListIt;

typedef Common::List<iPhysicsJoint *> tPhysicsJointList;
typedef tPhysicsJointList::iterator tPhysicsJointListIt;

typedef Common::List<iPhysicsController *> tPhysicsControllerList;
typedef tPhysicsControllerList::iterator tPhysicsControllerListIt;

typedef Common::List<iCharacterBody *> tCharacterBodyList;
typedef tCharacterBodyList::iterator tCharacterBodyListIt;

typedef Common::StableMap<tString, iPhysicsMaterial *> tPhysicsMaterialMap;
typedef tPhysicsMaterialMap::iterator tPhysicsMaterialMapIt;

typedef cSTLMapIterator<iPhysicsMaterial *, tPhysicsMaterialMap, tPhysicsMaterialMapIt> cPhysicsMaterialIterator;

typedef cSTLIterator<iPhysicsBody *, tPhysicsBodyList, tPhysicsBodyListIt> cPhysicsBodyIterator;
typedef cSTLIterator<iPhysicsJoint *, tPhysicsJointList, tPhysicsJointListIt> cPhysicsJointIterator;

enum ePhysicsAccuracy {
    ePhysicsAccuracy_Low,
    ePhysicsAccuracy_Medium,
    ePhysicsAccuracy_High,
    ePhysicsAccuracy_LastEnum
};

//----------------------------------------------------

struct cPhysicsRayParams {
    constexpr cPhysicsRayParams() {}
    float mfT = 0;
    float mfDist = 0;
    cVector3f mvNormal = {0, 0, 0};
    cVector3f mvPoint = {0, 0, 0};
};

class iPhysicsRayCallback {
public:
    virtual ~iPhysicsRayCallback() = default;
    virtual bool BeforeIntersect(iPhysicsBody *pBody) { return true; }
    virtual bool OnIntersect(iPhysicsBody *pBody, cPhysicsRayParams *apParams) = 0;
};

class iPhysicsWorldCollisionCallback {
public:
    virtual ~iPhysicsWorldCollisionCallback() = default;
    virtual void OnCollision(iPhysicsBody *apBody, cCollideData *apCollideData) = 0;
};

//----------------------------------------------------

class iPhysicsWorld {
public:
    iPhysicsWorld();
    virtual ~iPhysicsWorld();

    //########################################################################################
    //########################################################################################

    void Update(float afTimeStep);
    virtual void Simulate(float afTimeStep) = 0;

    virtual void SetMaxTimeStep(float afTimeStep) = 0;
    virtual float GetMaxTimeStep() = 0;

    virtual void SetWorldSize(const cVector3f &avMin, const cVector3f &avMax) = 0;
    virtual cVector3f GetWorldSizeMin() = 0;
    virtual cVector3f GetWorldSizeMax() = 0;

    virtual void SetGravity(const cVector3f &avGravity) = 0;
    virtual cVector3f GetGravity() = 0;

    virtual void SetAccuracyLevel(ePhysicsAccuracy aAccuracy) = 0;
    virtual ePhysicsAccuracy GetAccuracyLevel() = 0;

    //########################################################################################
    //########################################################################################

    virtual iCollideShape *CreateNullShape() = 0;
    virtual iCollideShape *CreateBoxShape(const cVector3f &avSize, cMatrixf *apOffsetMtx) = 0;
    virtual iCollideShape *CreateSphereShape(const cVector3f &avRadii, cMatrixf *apOffsetMtx) = 0;
    virtual iCollideShape *CreateCylinderShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx) = 0;
    virtual iCollideShape *CreateCapsuleShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx) = 0;
    virtual iCollideShape *CreateMeshShape(iVertexBuffer *apVtxBuffer) = 0;
    virtual iCollideShape *CreateCompundShape(tCollideShapeVec &avShapes) = 0;
    void DestroyShape(iCollideShape *apShape);


    //########################################################################################
    //########################################################################################

    virtual iPhysicsJointBall *CreateJointBall(const tString &asName,
                                               const cVector3f &avPivotPoint,
                                               iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) = 0;
    virtual iPhysicsJointHinge *CreateJointHinge(const tString &asName,
                                                 const cVector3f &avPivotPoint, const cVector3f &avPinDir,
                                                 iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) = 0;
    virtual iPhysicsJointSlider *CreateJointSlider(const tString &asName,
                                                   const cVector3f &avPivotPoint, const cVector3f &avPinDir,
                                                   iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) = 0;
    virtual iPhysicsJointScrew *CreateJointScrew(const tString &asName,
                                                 const cVector3f &avPivotPoint, const cVector3f &avPinDir,
                                                 iPhysicsBody *apParentBody, iPhysicsBody *apChildBody) = 0;
    void DestroyJoint(iPhysicsJoint *apJoint);
    iPhysicsJoint *GetJoint(const tString &asName);
    cPhysicsJointIterator GetJointIterator();


    //########################################################################################
    //########################################################################################

    virtual iPhysicsMaterial *CreateMaterial(const tString &asName) = 0;
    iPhysicsMaterial *GetMaterialFromName(const tString &asName);
    cPhysicsMaterialIterator GetMaterialIterator();


    //########################################################################################
    //########################################################################################

    virtual iPhysicsBody *CreateBody(const tString &asName, iCollideShape *apShape) = 0;
    void DestroyBody(iPhysicsBody *apBody);
    iPhysicsBody *GetBody(const tString &asName);
    cPhysicsBodyIterator GetBodyIterator();

    virtual iCharacterBody *CreateCharacterBody(const tString &asName, const cVector3f &avSize) = 0;
    void DestroyCharacterBody(iCharacterBody *apBody);
    iPhysicsBody *GetCharacterBody(const tString &asName);

    void GetBodiesInBV(cBoundingVolume *apBV, tPhysicsBodyList *apBodyList);
    void EnableBodiesInBV(cBoundingVolume *apBV, bool abEnabled);


    //########################################################################################
    //########################################################################################

    void SetLogDebug(bool abX) { mbLogDebug = abX; }
    bool GetLogDebug() { return mbLogDebug; }

    void AddSaveData(cSaveDataHandler *apHandler);

    virtual iPhysicsController *CreateController(const tString &asName) = 0;
    void DestroyController(iPhysicsController *apController);

    tCollidePointVec *GetContactPoints() { return &mvContactPoints; }
    void SetSaveContactPoints(bool abX) { mbSaveContactPoints = abX; }
    bool GetSaveContactPoints() { return mbSaveContactPoints; }
    void RenderContactPoints(iLowLevelGraphics *apLowLevel, const cColor &aPointColor,
                             const cColor &aLineColor);

    virtual void CastRay(iPhysicsRayCallback *apCallback,
                         const cVector3f &avOrigin, const cVector3f &avEnd,
                         bool abCalcDist, bool abCalcNormal, bool abCalcPoint,
                         bool abUsePrefilter = false) = 0;

    virtual void RenderDebugGeometry(iLowLevelGraphics *apLowLevel, const cColor &aColor) = 0;

    virtual bool CheckShapeCollision(iCollideShape *apShapeA, const cMatrixf &a_mtxA,
                                     iCollideShape *apShapeB, const cMatrixf &a_mtxB,
                                     cCollideData &aCollideData, int alMaxPoints,
                                     bool correctNormalDirection = false) = 0;

    bool CheckShapeWorldCollision(cVector3f *apNewPos,
                                  iCollideShape *apShape, const cMatrixf &a_mtxTransform,
                                  iPhysicsBody *apSkipBody = NULL, bool abSkipStatic = false,
                                  bool abIsCharacter = false,
                                  iPhysicsWorldCollisionCallback *apCallback = NULL,
                                  bool abCollideCharacter = true,
                                  bool abDebug = false);

    void DestroyAll();

    cWorld3D *GetWorld3D() { return mpWorld3D; }
    void SetWorld3D(cWorld3D *apWorld3D) { mpWorld3D = apWorld3D; }

protected:
    tCollideShapeList mlstShapes;
    tPhysicsBodyList mlstBodies;
    tCharacterBodyList mlstCharBodies;
    tPhysicsMaterialMap m_mapMaterials;
    tPhysicsJointList mlstJoints;
    tPhysicsControllerList mlstControllers;
    cWorld3D *mpWorld3D;

    bool mbLogDebug;

    tCollidePointVec mvContactPoints;
    bool mbSaveContactPoints;
};

} // namespace hpl

#endif // HPL_PHYSICS_WORLD_H