cocos_lib/cocos/physics/spec/IWorld.h

/****************************************************************************
 Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.

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#pragma once

#include <cstdint>
#include <memory>
#include "base/TypeDef.h"
#include "base/std/container/vector.h"
#include "math/Vec3.h"

namespace cc {
namespace physics {

enum class ETouchState : uint8_t {
    ENTER = 0,
    STAY = 1,
    EXIT = 2,
};

enum class EPhysicsDrawFlags : uint32_t {
    NONE = 0,
    WIRE_FRAME = 0x0001,
    CONSTRAINT = 0x0002,
    AABB = 0x0004
};

struct TriggerEventPair {
    uint32_t shapeA; //wrapper object ID
    uint32_t shapeB; //wrapper object ID
    ETouchState state;
    static constexpr uint8_t COUNT = 3;
    TriggerEventPair(const uint32_t a, const uint32_t b)
    : shapeA(a),
      shapeB(b),
      state(ETouchState::ENTER) {}
};

struct ContactPoint {
    Vec3 position;
    float separation;
    Vec3 normal;
    uint32_t internalFaceIndex0;
    Vec3 impulse;
    uint32_t internalFaceIndex1;
    static constexpr uint8_t COUNT = 12;
};

struct ContactEventPair {
    uint32_t shapeA; //wrapper object ID
    uint32_t shapeB; //wrapper object ID
    ETouchState state;
    ccstd::vector<ContactPoint> contacts;
    static constexpr uint8_t COUNT = 4;
    ContactEventPair(const uint32_t a, const uint32_t b)
    : shapeA(a),
      shapeB(b),
      state(ETouchState::ENTER) {}
};

struct CharacterControllerContact {
    Vec3 worldPosition;
    Vec3 worldNormal;
    Vec3 motionDirection;
    float motionLength;
    static constexpr uint8_t COUNT = 10;
};
struct CCTShapeEventPair {
    uint32_t cct; //wrapper object ID
    uint32_t shape; //wrapper object ID
    //ETouchState state;
    ccstd::vector<CharacterControllerContact> contacts;
    static constexpr uint8_t COUNT = 3;
    CCTShapeEventPair(const uint32_t cct, const uint32_t shape)
        : cct(cct), shape(shape) {
    }
};

struct CCTTriggerEventPair {
    uint32_t cct; //wrapper object ID
    uint32_t shape; //wrapper object ID
    ETouchState state;
    static constexpr uint8_t COUNT = 3;
    CCTTriggerEventPair(const uint32_t cct, const uint32_t shape)
    : cct(cct),
      shape(shape),
      state(ETouchState::ENTER) {}
};

struct ConvexDesc {
    void *positions;
    uint32_t positionLength;
};

struct TrimeshDesc : ConvexDesc {
    void *triangles;
    uint32_t triangleLength;
    bool isU16;
};

struct HeightFieldDesc {
    uint32_t rows;
    uint32_t columns;
    void *samples;
};

struct RaycastOptions {
    Vec3 origin;
    float distance;
    Vec3 unitDir;
    uint32_t mask;
    bool queryTrigger;
};

struct RaycastResult {
    uint32_t shape{0};
    Vec3 hitPoint;
    float distance;
    Vec3 hitNormal;
    RaycastResult() = default;
};

class IPhysicsWorld {
public:
    virtual ~IPhysicsWorld() = default;
    ;
    virtual void setGravity(float x, float y, float z) = 0;
    virtual void setAllowSleep(bool v) = 0;
    virtual void step(float s) = 0;
    virtual void emitEvents() = 0;
    virtual void syncSceneToPhysics() = 0;
    virtual void syncSceneWithCheck() = 0;
    virtual void destroy() = 0;
    virtual void setDebugDrawFlags(EPhysicsDrawFlags f) = 0;
    virtual EPhysicsDrawFlags getDebugDrawFlags() = 0;
    virtual void setDebugDrawConstraintSize(float s) = 0;
    virtual float getDebugDrawConstraintSize() = 0;
    virtual void setCollisionMatrix(uint32_t i, uint32_t m) = 0;
    virtual ccstd::vector<std::shared_ptr<TriggerEventPair>> &getTriggerEventPairs() = 0;
    virtual ccstd::vector<std::shared_ptr<ContactEventPair>>& getContactEventPairs() = 0;
    virtual ccstd::vector<std::shared_ptr<CCTShapeEventPair>>& getCCTShapeEventPairs() = 0;
    virtual ccstd::vector<std::shared_ptr<CCTTriggerEventPair>> &getCCTTriggerEventPairs() = 0;
    virtual bool raycast(RaycastOptions &opt) = 0;
    virtual bool raycastClosest(RaycastOptions &opt) = 0;
    virtual ccstd::vector<RaycastResult> &raycastResult() = 0;
    virtual RaycastResult &raycastClosestResult() = 0;
    virtual bool sweepBox(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
    virtual bool sweepBoxClosest(RaycastOptions &opt, float halfExtentX, float halfExtentY, float halfExtentZ,
        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
    virtual bool sweepSphere(RaycastOptions &opt, float radius) = 0;
    virtual bool sweepSphereClosest(RaycastOptions &opt, float radius) = 0;
    virtual bool sweepCapsule(RaycastOptions &opt, float radius, float height,
        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
    virtual bool sweepCapsuleClosest(RaycastOptions &opt, float radius, float height,
        float orientationW, float orientationX, float orientationY, float orientationZ) = 0;
    virtual RaycastResult &sweepClosestResult() = 0;
    virtual ccstd::vector<RaycastResult> &sweepResult() = 0;
    virtual uint32_t createConvex(ConvexDesc &desc) = 0;
    virtual uint32_t createTrimesh(TrimeshDesc &desc) = 0;
    virtual uint32_t createHeightField(HeightFieldDesc &desc) = 0;
    virtual bool createMaterial(uint16_t id, float f, float df, float r,
                                uint8_t m0, uint8_t m1) = 0;
    virtual void setFixedTimeStep(float v) = 0;
    virtual float getFixedTimeStep() const = 0;
};

} // namespace physics
} // namespace cc