o3de/Gems/PhysX/Core/Code/Source/StaticRigidBodyComponent.h

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */
#pragma once

#include <AzCore/Component/Component.h>
#include <AzCore/Component/EntityBus.h>
#include <AzCore/Component/TransformBus.h>
#include <AzFramework/Physics/Components/SimulatedBodyComponentBus.h>
#include <AzFramework/Physics/RigidBodyBus.h>
#include <PhysX/ComponentTypeIds.h>

namespace AzPhysics
{
    struct SimulatedBody;
}

namespace PhysX
{
    class StaticRigidBody;

    class StaticRigidBodyComponent final
        : public AZ::Component
        , public AZ::EntityBus::Handler
        , public AzPhysics::SimulatedBodyComponentRequestsBus::Handler
        , public Physics::RigidBodyRequestBus::Handler
        , private AZ::TransformNotificationBus::Handler
    {
    public:
        AZ_COMPONENT(StaticRigidBodyComponent, StaticRigidBodyComponentTypeId);

        StaticRigidBodyComponent();
        explicit StaticRigidBodyComponent(AzPhysics::SceneHandle sceneHandle);
        ~StaticRigidBodyComponent();

        static void Reflect(AZ::ReflectContext* context);

        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
        static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent);

        // RigidBodyRequests + SimulatedBodyComponentRequests overrides ...
        void EnablePhysics() override;
        void DisablePhysics() override;
        bool IsPhysicsEnabled() const override;

        AzPhysics::SceneQueryHit RayCast(const AzPhysics::RayCastRequest& request) override;
        AZ::Aabb GetAabb() const override;

        // AzPhysics::SimulatedBodyComponentRequests overrides ...
        AzPhysics::SimulatedBodyHandle GetSimulatedBodyHandle() const override;
        AzPhysics::SimulatedBody* GetSimulatedBody() override;

    private:
        void CreateRigidBody();
        void DestroyRigidBody();

        // AZ::Component
        void Activate() override;
        void Deactivate() override;

        // AZ::EntityBus overrides ...
        void OnEntityActivated(const AZ::EntityId& entityId) override;

        // AZ::TransformNotificationsBus
        void OnTransformChanged(const AZ::Transform& local, const AZ::Transform& world) override;

        // -------------------------------------------
        // Unimplemented part of RigidBodyRequests overrides ...
        // In the future RigidBodyRequests can be split more to avoid
        // having to override these functions.
        AZ::Vector3 GetCenterOfMassWorld() const override;
        AZ::Vector3 GetCenterOfMassLocal() const override;

        AZ::Matrix3x3 GetInertiaWorld() const override;
        AZ::Matrix3x3 GetInertiaLocal() const override;
        AZ::Matrix3x3 GetInverseInertiaWorld() const override;
        AZ::Matrix3x3 GetInverseInertiaLocal() const override;

        float GetMass() const override;
        float GetInverseMass() const override;
        void SetMass(float mass) override;
        void SetCenterOfMassOffset(const AZ::Vector3& comOffset) override;

        AZ::Vector3 GetLinearVelocity() const override;
        void SetLinearVelocity(const AZ::Vector3& velocity) override;
        AZ::Vector3 GetAngularVelocity() const override;
        void SetAngularVelocity(const AZ::Vector3& angularVelocity) override;
        AZ::Vector3 GetLinearVelocityAtWorldPoint(const AZ::Vector3& worldPoint) const override;
        void ApplyLinearImpulse(const AZ::Vector3& impulse) override;
        void ApplyLinearImpulseAtWorldPoint(const AZ::Vector3& impulse, const AZ::Vector3& worldPoint) override;
        void ApplyAngularImpulse(const AZ::Vector3& angularImpulse) override;

        float GetLinearDamping() const override;
        void SetLinearDamping(float damping) override;
        float GetAngularDamping() const override;
        void SetAngularDamping(float damping) override;

        bool IsAwake() const override;
        void ForceAsleep() override;
        void ForceAwake() override;

        bool IsKinematic() const override;
        void SetKinematic(bool kinematic) override;
        void SetKinematicTarget(const AZ::Transform& targetPosition) override;

        bool IsGravityEnabled() const override;
        void SetGravityEnabled(bool enabled) override;
        void SetSimulationEnabled(bool enabled) override;

        float GetSleepThreshold() const override;
        void SetSleepThreshold(float threshold) override;
        AzPhysics::RigidBody* GetRigidBody() override;
        // -------------------------------------------

        AzPhysics::SimulatedBodyHandle m_staticRigidBodyHandle = AzPhysics::InvalidSimulatedBodyHandle;
        AzPhysics::SceneHandle m_attachedSceneHandle = AzPhysics::InvalidSceneHandle;
    };
} // namespace PhysX