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#include "KingSystem/Physics/RigidBody/physRigidBodyAccessor.h"
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
#include "KingSystem/Physics/physConversions.h"
namespace ksys::phys {
RigidBodyAccessor::RigidBodyAccessor(hkpRigidBody* body) : mBody(body) {}
RigidBodyAccessor::~RigidBodyAccessor() = default;
MotionType RigidBodyAccessor::getMotionType() const {
switch (getBody()->getMotionType()) {
case hkpMotion::MOTION_INVALID:
break;
case hkpMotion::MOTION_DYNAMIC:
case hkpMotion::MOTION_SPHERE_INERTIA:
case hkpMotion::MOTION_BOX_INERTIA:
return MotionType::Dynamic;
case hkpMotion::MOTION_KEYFRAMED:
return MotionType::Keyframed;
case hkpMotion::MOTION_FIXED:
return MotionType::Fixed;
case hkpMotion::MOTION_THIN_BOX_INERTIA:
break;
case hkpMotion::MOTION_CHARACTER:
return MotionType::Dynamic;
case hkpMotion::MOTION_MAX_ID:
break;
}
return MotionType::Invalid;
}
void RigidBodyAccessor::getPosition(sead::Vector3f* pos) const {
toVec3(pos, getBody()->getPosition());
}
void RigidBodyAccessor::getRotation(sead::Quatf* rot) const {
toQuat(rot, getBody()->getRotation());
}
void RigidBodyAccessor::getTransform(sead::Matrix34f* mtx) const {
toMtx34(mtx, getBody()->getTransform());
}
void RigidBodyAccessor::getLinearVelocity(sead::Vector3f* vel) const {
toVec3(vel, getBody()->getLinearVelocity());
}
void RigidBodyAccessor::getAngularVelocity(sead::Vector3f* vel) const {
toVec3(vel, getBody()->getAngularVelocity());
}
bool RigidBodyAccessor::isVelocityGreaterEqual(float vel) const {
hkVector4f v;
v.setAll(vel);
hkVector4f linvel;
linvel.setAbs(getBody()->getLinearVelocity());
hkVector4f angvel;
angvel.setAbs(getBody()->getAngularVelocity());
return v.greaterEqual(linvel).allAreSet<hkVector4fComparison::MASK_XYZ>() &&
v.greaterEqual(angvel).allAreSet<hkVector4fComparison::MASK_XYZ>();
}
void RigidBodyAccessor::getPointVelocity(sead::Vector3f* vel, const sead::Vector3f& point) const {
const auto p = toHkVec4(point);
hkVector4f out;
getBody()->getPointVelocity(p, out);
toVec3(vel, out);
}
float RigidBodyAccessor::getTimeFactor() const {
return getBody()->getTimeFactor();
}
void RigidBodyAccessor::getDeltaCenterOfMass(sead::Vector3f* out_delta_pos,
sead::Vector3f* out_delta_angle) const {
const hkMotionState* state = getBody()->getMotion()->getMotionState();
const auto center1 = state->getSweptTransform().m_centerOfMass1;
const auto center0 = state->getSweptTransform().m_centerOfMass0;
const auto delta_angle = state->m_deltaAngle;
if (out_delta_pos != nullptr) {
hkVector4f value;
value.setSub(center1, center0);
value.mul(center1.getW()); // W is the time step
value.store<3>(out_delta_pos->e.data());
}
if (out_delta_angle != nullptr) {
hkVector4f value;
value.setMul(delta_angle, center1.getW());
value.store<3>(out_delta_angle->e.data());
}
}
} // namespace ksys::phys
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