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#pragma once
#include <prim/seadTypedBitFlag.h>
#include <thread/seadAtomic.h>
#include "KingSystem/Physics/RigidBody/physMotionAccessor.h"
namespace ksys::phys {
/// A MotionAccessor that uses the RigidBody's internal motion instance directly.
class RigidBodyMotionSensor : public MotionAccessor {
SEAD_RTTI_OVERRIDE(RigidBodyMotionSensor, MotionAccessor)
public:
enum class Flag {
_40000 = 1 << 18,
HasExtraTranslateForLinkedRigidBody = 1 << 19,
HasExtraRotateForLinkedRigidBody = 1 << 20,
HasLinkedRigidBodyWithoutFlag10 = 1 << 21,
_400000 = 1 << 22,
};
explicit RigidBodyMotionSensor(RigidBody* body);
void setTransform(const sead::Matrix34f& mtx, bool propagate_to_linked_motions) override;
void setPosition(const sead::Vector3f& position, bool propagate_to_linked_motions) override;
void setTransformFromLinkedBody(const sead::Matrix34f& mtx);
void setTransformFromLinkedBody(const hkVector4f& hk_translate, const hkQuaternionf& hk_rotate);
void getPosition(sead::Vector3f* position) override;
void getRotation(sead::Quatf* rotation) override;
void getTransform(sead::Matrix34f* mtx) override;
void setCenterOfMassInLocal(const sead::Vector3f& center) override;
void getCenterOfMassInLocal(sead::Vector3f* center) override;
bool setLinearVelocity(const sead::Vector3f& velocity, float epsilon) override;
bool setLinearVelocity(const hkVector4f& velocity, float epsilon) override;
void getLinearVelocity(sead::Vector3f* velocity) override;
bool setAngularVelocity(const sead::Vector3f& velocity, float epsilon) override;
bool setAngularVelocity(const hkVector4f& velocity, float epsilon) override;
void getAngularVelocity(sead::Vector3f* velocity) override;
void setMaxLinearVelocity(float max) override;
float getMaxLinearVelocity() override;
void setMaxAngularVelocity(float max) override;
float getMaxAngularVelocity() override;
void setLinkedRigidBody(RigidBody* body);
void resetLinkedRigidBody();
RigidBody* getLinkedRigidBody() const;
bool isFlag40000Set() const;
void copyMotionFromLinkedRigidBody();
~RigidBodyMotionSensor() override;
bool init(const RigidBodyInstanceParam& params, sead::Heap* heap) override;
void getRotation(hkQuaternionf* quat) override;
void setTimeFactor(float factor) override;
float getTimeFactor() override;
void freeze(bool freeze, bool preserve_velocities, bool preserve_max_impulse) override;
void resetFrozenState() override {
mFrozenLinearVelocity.set(0, 0, 0);
mFrozenAngularVelocity.set(0, 0, 0);
}
bool hasFlag(Flag flag) const { return mFlags.isOn(flag); }
private:
void setTransformImpl(const sead::Matrix34f& mtx);
sead::Vector3f mFrozenLinearVelocity = sead::Vector3f::zero;
sead::Vector3f mFrozenAngularVelocity = sead::Vector3f::zero;
sead::Vector3f mLinearVelocity = sead::Vector3f::zero;
float mMaxLinearVelocity{};
sead::Vector3f mAngularVelocity = sead::Vector3f::zero;
float mMaxAngularVelocity{};
sead::Vector3f mCenterOfMassInLocal = sead::Vector3f::zero;
RigidBody* mLinkedRigidBody{};
sead::Matrix34f mTransform = sead::Matrix34f::ident;
float mTimeFactor = 1.0f;
sead::Vector3f mLinkedBodyExtraTranslate = sead::Vector3f::zero;
sead::Quatf mLinkedBodyExtraRotate = sead::Quatf::unit;
sead::TypedBitFlag<Flag, sead::Atomic<u32>> mFlags{};
};
} // namespace ksys::phys
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