102 lines
3.2 KiB
C#
102 lines
3.2 KiB
C#
using RobocraftX.Common;
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using RobocraftX.Physics;
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using Svelto.ECS;
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using Unity.Mathematics;
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using UnityEngine;
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namespace GamecraftModdingAPI
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{
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/// <summary>
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/// A rigid body (like a cluster of connected blocks) during simulation.
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/// </summary>
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public class SimBody
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{
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public EGID Id { get; }
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public SimBody(EGID id)
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{
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Id = id;
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}
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public SimBody(uint id) : this(new EGID(id, CommonExclusiveGroups.SIMULATION_BODIES_GROUP))
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{
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}
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/// <summary>
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/// The position of this body. When setting the position, update the position of the connected bodies as well,
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/// otherwise unexpected forces may arise.
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/// </summary>
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public float3 Position
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{
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get => GetStruct().position;
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set => GetStruct().position = value;
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}
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public float3 Velocity
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{
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get => GetStruct().velocity;
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set => GetStruct().velocity = value;
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}
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public float3 AngularVelocity
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{
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get => GetStruct().angularVelocity;
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set => GetStruct().angularVelocity = value;
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} //Delta versions are used internally, can't be set or get
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public float3 Rotation
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{
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get => ((Quaternion) GetStruct().rotation).eulerAngles;
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set
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{
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ref var str = ref GetStruct();
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Quaternion quaternion = str.rotation;
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quaternion.eulerAngles = value;
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str.rotation = quaternion;
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}
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}
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public float Mass
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{
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get => math.rcp(GetStruct().physicsMass.InverseMass);
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//set => GetStruct().physicsMass.InverseMass = math.rcp(value);
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}
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public float3 CenterOfMass
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{
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get => GetStruct().physicsMass.CenterOfMass;
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//set => GetStruct().physicsMass.CenterOfMass = value;
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}
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/// <summary>
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/// Whether the body can be moved or static.
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/// </summary>
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public bool Static => Block.BlockEngine.GetBlockInfo<MassEntityStruct>(Id).isStatic; //Setting it doesn't have any effect
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/// <summary>
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/// The rigid bodies connected to this one via functional joints (broken ones don't count).
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/// </summary>
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public SimBody[] GetConnectedBodies()
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{
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return Block.BlockEngine.GetConnectedSimBodies(Id.entityID);
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}
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private ref RigidBodyEntityStruct GetStruct()
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{
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return ref Block.BlockEngine.GetBlockInfo<RigidBodyEntityStruct>(Id);
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}
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public override string ToString()
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{
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return $"{nameof(Id)}: {Id}, {nameof(Position)}: {Position}, {nameof(Mass)}: {Mass}, {nameof(Static)}: {Static}";
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}
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/// <summary>
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/// Returns the object identified by the given ID (A-Z).
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/// This has the same result as calling ObjectIdentifier.GetByID(id) and then GetRigidBody() with the duplicates filtered out.
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/// </summary>
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/// <param name="id">The alphabetical ID</param>
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/// <returns>An array that may be empty</returns>
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public static SimBody[] GetFromObjectID(char id) => Block.BlockEngine.GetSimBodiesFromID((byte) (id - 'A'));
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}
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} |