metaforce/Runtime/World/CPhysicsActor.hpp

#pragma once

#include "CActor.hpp"
#include "Collision/CCollidableAABox.hpp"

namespace urde
{
class CCollisionInfoList;
struct SMoverData;

struct SMoverData
{
    zeus::CVector3f x0_velocity;
    zeus::CAxisAngle xc_angularVelocity;
    zeus::CVector3f x18_momentum;
    zeus::CAxisAngle x24_;
    float x30_mass;

    SMoverData(float mass) : x30_mass(mass) {}
};

struct CMotionState
{
    zeus::CVector3f x0_translation;
    zeus::CNUQuaternion xc_orientation;
    zeus::CVector3f x1c_velocity;
    zeus::CAxisAngle x28_angularMomentum;
    CMotionState(const zeus::CVector3f& origin, const zeus::CNUQuaternion& orientation, const zeus::CVector3f& velocity,
                 const zeus::CAxisAngle& angle)
    : x0_translation(origin), xc_orientation(orientation), x1c_velocity(velocity), x28_angularMomentum(angle)
    {}
    CMotionState(const zeus::CVector3f& origin, const zeus::CNUQuaternion& orientation)
    : x0_translation(origin), xc_orientation(orientation)
    {}
};

class CPhysicsState
{
    zeus::CVector3f x0_translation;
    zeus::CQuaternion xc_orientation;
    zeus::CVector3f x1c_constantForce;
    zeus::CAxisAngle x28_angularMomentum;
    zeus::CVector3f x34_momentum;
    zeus::CVector3f x40_force;
    zeus::CVector3f x4c_impulse;
    zeus::CAxisAngle x58_torque;
    zeus::CAxisAngle x64_angularImpulse;

public:
    CPhysicsState(const zeus::CVector3f& translation, const zeus::CQuaternion& orient,
                  const zeus::CVector3f& v2, const zeus::CAxisAngle& a1, const zeus::CVector3f& v3,
                  const zeus::CVector3f& v4, const zeus::CVector3f& v5, const zeus::CAxisAngle& a2,
                  const zeus::CAxisAngle& a3)
    : x0_translation(translation)
    , xc_orientation(orient)
    , x1c_constantForce(v2)
    , x28_angularMomentum(a1)
    , x34_momentum(v3)
    , x40_force(v4)
    , x4c_impulse(v5)
    , x58_torque(a2)
    , x64_angularImpulse(a3)
    {}

    void SetTranslation(const zeus::CVector3f& tr) { x0_translation = tr; }
    void SetOrientation(const zeus::CQuaternion& orient) { xc_orientation = orient; }
    const zeus::CQuaternion& GetOrientation() const { return xc_orientation; }
    const zeus::CVector3f& GetTranslation() const { return x0_translation; }
    const zeus::CVector3f& GetConstantForceWR() const { return x1c_constantForce; }
    const zeus::CAxisAngle& GetAngularMomentumWR() const { return x28_angularMomentum; }
    const zeus::CVector3f& GetMomentumWR() const { return x34_momentum; }
    const zeus::CVector3f& GetForceWR() const { return x40_force; }
    const zeus::CVector3f& GetImpulseWR() const { return x4c_impulse; }
    const zeus::CAxisAngle& GetTorque() const { return x58_torque; }
    const zeus::CAxisAngle& GetAngularImpulseWR() const { return x64_angularImpulse; }
};

class CPhysicsActor : public CActor
{
    friend class CGroundMovement;
protected:
    float xe8_mass;
    float xec_massRecip;
    float xf0_inertiaTensor;
    float xf4_inertiaTensorRecip;
    union {
        struct
        {
            bool xf8_24_movable : 1;
            bool xf8_25_angularEnabled : 1;
        };
        u8 _dummy = 0;
    };
    bool xf9_standardCollider = false;
    zeus::CVector3f xfc_constantForce;
    zeus::CAxisAngle x108_angularMomentum;
    zeus::CMatrix3f x114_;
    zeus::CVector3f x138_velocity;
    zeus::CAxisAngle x144_angularVelocity;
    zeus::CVector3f x150_momentum;
    zeus::CVector3f x15c_force;
    zeus::CVector3f x168_impulse;
    zeus::CAxisAngle x174_torque;
    zeus::CAxisAngle x180_angularImpulse;
    zeus::CVector3f x18c_moveImpulse;
    zeus::CAxisAngle x198_moveAngularImpulse;
    zeus::CAABox x1a4_baseBoundingBox;
    CCollidableAABox x1c0_collisionPrimitive;
    zeus::CVector3f x1e8_primitiveOffset;
    CMotionState x1f4_lastNonCollidingState;
    std::experimental::optional<zeus::CVector3f> x228_lastFloorPlaneNormal;
    float x238_maximumCollisionVelocity = 1000000.0f;
    float x23c_stepUpHeight;
    float x240_stepDownHeight;
    float x244_restitutionCoefModifier = 0.f;
    float x248_collisionAccuracyModifier = 1.f;
    u32 x24c_numTicksStuck;
    u32 x250_numTicksPartialUpdate;

public:
    CPhysicsActor(TUniqueId, bool, std::string_view, const CEntityInfo&, const zeus::CTransform&, CModelData&&,
                  const CMaterialList&, const zeus::CAABox&, const SMoverData&, const CActorParameters&, float, float);

    void Render(const CStateManager& mgr) const;
    zeus::CVector3f GetOrbitPosition(const CStateManager&) const;
    zeus::CVector3f GetAimPosition(const CStateManager&, float val) const;
    virtual const CCollisionPrimitive* GetCollisionPrimitive() const;
    virtual zeus::CTransform GetPrimitiveTransform() const;
    virtual void CollidedWith(TUniqueId, const CCollisionInfoList&, CStateManager&);
    virtual float GetStepUpHeight() const;
    virtual float GetStepDownHeight() const;
    virtual float GetWeight() const;

    float GetMass() const { return xe8_mass; }
    void SetPrimitiveOffset(const zeus::CVector2f& offset);
    zeus::CVector3f GetPrimitiveOffset() const;
    void MoveCollisionPrimitive(const zeus::CVector3f& offset);
    void SetBoundingBox(const zeus::CAABox& box);
    zeus::CAABox GetMotionVolume(float dt) const;
    zeus::CVector3f CalculateNewVelocityWR_UsingImpulses() const;
    zeus::CAABox GetBoundingBox() const;
    const zeus::CAABox& GetBaseBoundingBox() const;
    void AddMotionState(const CMotionState& mst);
    CMotionState GetMotionState() const;
    const CMotionState& GetLastNonCollidingState() const { return x1f4_lastNonCollidingState; }
    void SetLastNonCollidingState(const CMotionState& mst) { x1f4_lastNonCollidingState = mst; }
    void SetMotionState(const CMotionState& mst);
    float GetMaximumCollisionVelocity() const { return x238_maximumCollisionVelocity; }
    void SetMaximumCollisionVelocity(float v) { x238_maximumCollisionVelocity = v; }
    void SetInertiaTensorScalar(float tensor);
    void SetMass(float mass);
    void SetAngularVelocityOR(const zeus::CAxisAngle& angVel);
    zeus::CAxisAngle GetAngularVelocityOR() const;
    const zeus::CAxisAngle& GetAngularVelocityWR() const { return x144_angularVelocity; }
    void SetAngularVelocityWR(const zeus::CAxisAngle& angVel);
    const zeus::CVector3f& GetForceOR() const { return x15c_force; }
    void SetVelocityWR(const zeus::CVector3f& vel);
    void SetVelocityOR(const zeus::CVector3f& vel);
    void SetMomentumWR(const zeus::CVector3f& m) { x150_momentum = m; }
    const zeus::CVector3f& GetConstantForce() { return xfc_constantForce; }
    void SetConstantForce(const zeus::CVector3f& f) { xfc_constantForce = f; }
    void SetAngularMomentum(const zeus::CAxisAngle& m) { x108_angularMomentum = m; }
    const zeus::CVector3f& GetMomentum() const { return x150_momentum; }
    const zeus::CVector3f& GetVelocity() const { return x138_velocity; }
    const zeus::CAxisAngle& GetAngularImpulse() const { return x180_angularImpulse; }
    void SetAngularImpulse(const zeus::CAxisAngle& i) { x180_angularImpulse = i; }
    zeus::CVector3f GetTotalForcesWR() const;
    void RotateInOneFrameOR(const zeus::CQuaternion& q, float d);
    void MoveInOneFrameOR(const zeus::CVector3f& trans, float d);
    void RotateToOR(const zeus::CQuaternion& q, float d);
    void MoveToOR(const zeus::CVector3f& trans, float d);
    void MoveToInOneFrameWR(const zeus::CVector3f& v1, float d);
    void MoveToWR(const zeus::CVector3f& trans, float d);
    zeus::CAxisAngle GetRotateToORAngularMomentumWR(const zeus::CQuaternion& q, float d) const;
    zeus::CVector3f GetMoveToORImpulseWR(const zeus::CVector3f& trans, float d) const;
    void ClearImpulses();
    void ClearForcesAndTorques();
    void Stop();
    void ComputeDerivedQuantities();
    bool WillMove(const CStateManager&);
    void SetPhysicsState(const CPhysicsState& state);
    CPhysicsState GetPhysicsState() const;
    bool IsMovable() const { return xf8_24_movable; }
    void SetMovable(bool m) { xf8_24_movable = m; }
    bool IsAngularEnabled() const { return xf8_25_angularEnabled; }
    void SetAngularEnabled(bool e) { xf8_25_angularEnabled = e; }
    float GetCollisionAccuracyModifier() const { return x248_collisionAccuracyModifier; }
    void SetCollisionAccuracyModifier(float m) { x248_collisionAccuracyModifier = m; }
    float GetCoefficientOfRestitutionModifier() const { return x244_restitutionCoefModifier; }
    void SetCoefficientOfRestitutionModifier(float m) { x244_restitutionCoefModifier = m; }
    bool IsUseStandardCollider() const { return xf9_standardCollider; }
    u32 GetNumTicksPartialUpdate() const { return x250_numTicksPartialUpdate; }
    void SetNumTicksPartialUpdate(u32 t) { x250_numTicksPartialUpdate = t; }
    u32 GetNumTicksStuck() const { return x24c_numTicksStuck; }
    void SetNumTicksStuck(u32 t) { x24c_numTicksStuck = t; }
    const std::experimental::optional<zeus::CVector3f>& GetLastFloorPlaneNormal() const { return x228_lastFloorPlaneNormal; }
    void SetLastFloorPlaneNormal(const std::experimental::optional<zeus::CVector3f>& n) { x228_lastFloorPlaneNormal = n; }

    CMotionState PredictMotion_Internal(float) const;
    CMotionState PredictMotion(float dt) const;
    CMotionState PredictLinearMotion(float dt) const;
    CMotionState PredictAngularMotion(float dt) const;
    void ApplyForceOR(const zeus::CVector3f& force, const zeus::CAxisAngle& angle);
    void ApplyForceWR(const zeus::CVector3f& force, const zeus::CAxisAngle& angle);
    void ApplyImpulseOR(const zeus::CVector3f& impulse, const zeus::CAxisAngle& angle);
    void ApplyImpulseWR(const zeus::CVector3f& impulse, const zeus::CAxisAngle& angle);
    void ApplyTorqueWR(const zeus::CVector3f& torque);

    void UseCollisionImpulses();
};
}