World3D.h

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#pragma once
 
#include <string>
#include <unordered_set>
#include <vector>
 
#include <box3d/id.h>
 
namespace eve::physics {
 
class Body3D;
class Shape3D;
 
class World3D {
public:
    World3D(float gravityX, float gravityY, float gravityZ, bool sleep);
    ~World3D();
 
    World3D(const World3D &)            = delete;
    World3D &operator=(const World3D &) = delete;
 
    void update(float dt);
    void updateFull(float dt, int subStepCount);
 
    void  setGravity(float gx, float gy, float gz);
    float getGravityX() const;
    float getGravityY() const;
    float getGravityZ() const;
 
    Body3D *newBody(const std::string &bodyType, float x, float y, float z);
 
    void destroyBody(Body3D *body);
    void destroy();
 
    int rayCast(float x1, float y1, float z1, float x2, float y2, float z2);
    bool  hasRayHit() const { return rayHitBodyId_ >= 0; }
    int   getRayHitBodyId() const { return rayHitBodyId_; }
    float getRayHitX() const { return rayHitX_; }
    float getRayHitY() const { return rayHitY_; }
    float getRayHitZ() const { return rayHitZ_; }
    float getRayHitNormalX() const { return rayHitNormalX_; }
    float getRayHitNormalY() const { return rayHitNormalY_; }
    float getRayHitNormalZ() const { return rayHitNormalZ_; }
    float getRayHitFraction() const { return rayHitFraction_; }
 
    int queryAABB(float minX, float minY, float minZ, float maxX, float maxY, float maxZ);
    int getQueryCount() const { return static_cast<int>(queryBodyIds_.size()); }
    int getQueryBodyId(int index) const;
 
    bool      isValid() const;
    b3WorldId raw() const { return worldId_; }
 
    void forgetBody(Body3D *body);
    void forgetShape(Shape3D *shape);
 
    int nextBodyId();
 
    void emitContactEvents();
 
private:
    friend class Body3D;
    friend class Shape3D;
 
    b3WorldId worldId_{};
    bool      destroyed_ = false;
    int       nextId_    = 1;
 
    std::unordered_set<Body3D *>  bodies_;
    std::unordered_set<Shape3D *> shapes_;
 
    int   rayHitBodyId_   = -1;
    float rayHitX_        = 0.f;
    float rayHitY_        = 0.f;
    float rayHitZ_        = 0.f;
    float rayHitNormalX_  = 0.f;
    float rayHitNormalY_  = 0.f;
    float rayHitNormalZ_  = 0.f;
    float rayHitFraction_ = 0.f;
 
    std::vector<int> queryBodyIds_;
};
 
}  // namespace eve::physics