RigidBody.h

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#pragma once
#include <mutex>
#include <vector>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
 
#include "bounding/ICollider.h"
#include "physics/PhysicsBody.h"
 
class Mesh;
 
namespace Physics {
 
    class RigidBody : public PhysicsBody {
    public:
        RigidBody(uint32_t id, double mass, std::unique_ptr<Bounding::ICollider> collider, glm::vec3 pos = glm::vec3(0.0f), bool isStatic = false);
        explicit RigidBody(uint32_t id, std::unique_ptr<Bounding::ICollider> collider, glm::vec3 pos = glm::vec3(0.0f), bool isStatic = true); // static objects dont need mass
 
        void step(float dt, BodyLock lock) override;
 
        void recordFrame(float t, BodyLock lock) override;
        void loadFrame(const ObjectSnapshot &snapshot, BodyLock lock) override;
 
        Bounding::ICollider *getCollider() const override { return collider.get(); }
 
        bool collidesWith(const PhysicsBody &other) const override;
        bool collidesWithPointMass(const PointMass &pm) const override;
        bool collidesWithRigidBody(const RigidBody &rb) const override;
 
        bool resolveCollisionWith(float dt, PhysicsBody &other) override;
        bool resolveCollisionWithPointMass(float dt, PointMass &pm) override;
        bool resolveCollisionWithRigidBody(float dt, RigidBody &rb) override;
 
        void setScale(const glm::vec3& newScale);
        void setGeometry(const std::vector<glm::vec3>& vertices, const std::vector<unsigned int>& indices);
    private:
        std::unique_ptr<Bounding::ICollider> collider;
        glm::vec3 scale = glm::vec3(1.0f);
        std::vector<glm::vec3> meshVertices;
        std::vector<unsigned int> meshIndices;
 
        void recomputeGeometry();
    };
 
}