ImmediatePhysicsActorHandle_Chaos.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Physics/ImmediatePhysics/ImmediatePhysicsChaos/ImmediatePhysicsCore_Chaos.h"
#include "Chaos/ChaosEngineInterface.h"
#include "Chaos/ImplicitObject.h"
 
#include "Engine/EngineTypes.h"
 
namespace ImmediatePhysics_Chaos
{
    struct FActorSetup
    {
    public:
        ENGINE_API FActorSetup();
        ENGINE_API FActorSetup(FActorSetup&& R);
        ENGINE_API ~FActorSetup();
 
        FTransform Transform;
 
        // NOTE: Shapes and Material are Moved out the setup structure when
        // ued to create an Actor.
        Chaos::FImplicitObjectPtr Geometry;
        TArray<TUniquePtr<Chaos::FPerShapeData>> Shapes;
        TUniquePtr<Chaos::FChaosPhysicsMaterial> Material;
 
        FReal Mass;
        FVector Inertia;
        FTransform CoMTransform;
 
        FReal LinearDamping;
        FReal AngularDamping;
 
        EActorType ActorType;
        ECollisionEnabled::Type CollisionEnabled;
        int8 GravityGroupIndex;
        uint8 bInertiaConditioningEnabled : 1;
        uint8 bEnableGravity : 1;
        uint8 bUpdateKinematicFromSimulation : 1;
        uint8 bGyroscopicTorqueEnabled : 1;
    };
 
    struct FActorHandle
    {
    public:
        ENGINE_API ~FActorHandle();
 
        void SetName(const FName& InName) { Name = InName; }
        const FName& GetName() const { return Name; }
 
        ENGINE_API bool GetEnabled() const;
 
        ENGINE_API void SetEnabled(bool bEnabled);
 
        ENGINE_API bool GetHasCollision() const;
 
        ENGINE_API void SetHasCollision(bool bHasCollision);
 
        ENGINE_API void InitWorldTransform(const FTransform& WorldTM);
 
        ENGINE_API void SetWorldTransform(const FTransform& WorldTM);
 
        ENGINE_API bool SetIsKinematic(bool bKinematic);
 
        ENGINE_API bool GetIsKinematic() const;
 
        ENGINE_API const FKinematicTarget& GetKinematicTarget() const;
 
        ENGINE_API void SetKinematicTarget(const FTransform& WorldTM);
 
        ENGINE_API bool HasKinematicTarget() const;
 
        ENGINE_API bool IsGravityEnabled() const;
 
        ENGINE_API bool CouldBeDynamic() const;
 
        ENGINE_API void SetGravityEnabled(bool bEnable);
 
        ENGINE_API bool IsSimulated() const;
 
        ENGINE_API FTransform GetWorldTransform() const;
 
        ENGINE_API void SetLinearVelocity(const FVector& NewLinearVelocity);
 
        ENGINE_API FVector GetLinearVelocity() const;
 
        ENGINE_API void SetAngularVelocity(const FVector& NewAngularVelocity);
 
        ENGINE_API FVector GetAngularVelocity() const;
 
        ENGINE_API void AddForce(const FVector& Force);
 
        ENGINE_API void AddTorque(const FVector& Torque);
 
        ENGINE_API void AddRadialForce(const FVector& Origin, FReal Strength, FReal Radius, ERadialImpulseFalloff Falloff, EForceType ForceType);
 
        ENGINE_API void AddImpulseAtLocation(FVector Impulse, FVector Location);
 
        ENGINE_API void SetLinearDamping(FReal NewLinearDamping);
 
        ENGINE_API FReal GetLinearDamping() const;
 
        ENGINE_API void SetAngularDamping(FReal NewAngularDamping);
 
        ENGINE_API FReal GetAngularDamping() const;
 
        ENGINE_API void SetMaxLinearVelocitySquared(FReal NewMaxLinearVelocitySquared);
 
        ENGINE_API FReal GetMaxLinearVelocitySquared() const;
 
        ENGINE_API void SetMaxAngularVelocitySquared(FReal NewMaxAngularVelocitySquared);
 
        ENGINE_API FReal GetMaxAngularVelocitySquared() const;
 
        ENGINE_API void SetInverseMass(FReal NewInverseMass);
 
        ENGINE_API FReal GetInverseMass() const;
        ENGINE_API FReal GetMass() const;
 
        ENGINE_API void SetInverseInertia(const FVector& NewInverseInertia);
 
        ENGINE_API FVector GetInverseInertia() const;
        ENGINE_API FVector GetInertia() const;
 
        ENGINE_API void SetMaxDepenetrationVelocity(FReal NewMaxDepenetrationVelocity);
 
        ENGINE_API FReal GetMaxDepenetrationVelocity() const;
 
        ENGINE_API void SetMaxContactImpulse(FReal NewMaxContactImpulse);
 
        ENGINE_API FReal GetMaxContactImpulse() const;
 
        ENGINE_API FTransform GetLocalCoMTransform() const;
 
        ENGINE_API FVector GetLocalCoMLocation() const;
 
        ENGINE_API Chaos::FGeometryParticleHandle* GetParticle();
        ENGINE_API const Chaos::FGeometryParticleHandle* GetParticle() const;
 
        ENGINE_API int32 GetLevel() const;
        ENGINE_API void SetLevel(int32 InLevel);
 
    private:
        FKinematicTarget& GetKinematicTarget();
 
        void CreateParticleHandle(
            FActorSetup&& ActorSetup);
 
        friend struct FSimulation;
        friend struct FJointHandle;
 
        FActorHandle(
            Chaos::FPBDRigidsSOAs& InParticles,
            Chaos::TArrayCollectionArray<Chaos::FVec3>& InParticlePrevXs,
            Chaos::TArrayCollectionArray<Chaos::FRotation3>& InParticlePrevRs,
            FActorSetup&& ActorSetup);
 
 
        Chaos::FGenericParticleHandle Handle() const;
 
        FName Name;
        Chaos::FPBDRigidsSOAs& Particles;
        Chaos::FGeometryParticleHandle* ParticleHandle;
        Chaos::TArrayCollectionArray<Chaos::FVec3>& ParticlePrevXs;
        Chaos::TArrayCollectionArray<Chaos::FRotation3>& ParticlePrevRs;
        int32 Level;
    };
}