Physics.h

#pragma once
 
#include "Math/Vector3.h"
 
namespace SharpKmyMath
{
    value class Matrix4;
    value struct Vector3;
}
 
namespace SharpKmyPhysics
{
    public enum struct DebugDrawError{
        None,
        LackOfVertexBuffer,
    };
 
    ref class PhysicsNode;
    ref class Collider;
    ref class RigidBody;
    ref class Vehicle;
    ref class PhysicsBase;
    ref class PhysicsNotifyTarget;
 
    public ref class RayCastHit
    {
    public:
        PhysicsNode^ node;
        SharpKmyMath::Vector3 position;
        SharpKmyMath::Vector3 normal;
        float distance;
        int triangleIndex;
    };
 
    public ref class PhysicsBase
    {
    public:
 
        PhysicsBase(kmyPhysics::PhysicsBase* p);
 
        void lockUpdate();
        void unlockUpdate();
 
        void setGravity(float x, float y, float z);
        void removeRigidBody(RigidBody ^r);
        void removeCollider(Collider ^c);
        void removeVehicle(Vehicle^ v);
        bool rayCast(SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit);
        bool rayCast(SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit, PhysicsNotifyTarget^ self);
        bool rayCast(SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit, PhysicsNotifyTarget^ self, unsigned short type);
        bool rayCast(SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit, PhysicsNotifyTarget^ self, unsigned short type, int fellowId);
        bool convexSweepTest(float radius, float height, SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit);
        bool convexSweepTest(float radius, float height, SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit, PhysicsNotifyTarget^ self, unsigned short type);
        bool convexSweepTest(float radius, float height, SharpKmyMath::Vector3 from, SharpKmyMath::Vector3 to, unsigned short mask, RayCastHit^ hit, PhysicsNotifyTarget^ self, unsigned short type, int fellowId);
        
        Collider^ createBoxCollider(
            float halfWidth, float halfHeight, float halfDepth,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask
            );
 
        Collider^ createSphereCollider(
            float radius,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask
        );
 
        Collider^ createCapsuleCollider(
            float radius,
            float height,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask,
            int axis
        );
 
        Collider^ createTriMeshCollider(
            array<float> ^vertices,
            array<unsigned short> ^indices,
            SharpKmyMath::Matrix4 ^mtx,
            SharpKmyMath::Vector3 ^scl,
            unsigned short group,
            unsigned short mask,
            int verticesCount,
            int indicesCount
        );
 
        Collider^ createTriMeshCollider(
            System::Guid guid,
            SharpKmyMath::Matrix4 ^mtx,
            SharpKmyMath::Vector3 ^scl,
            unsigned short group,
            unsigned short mask
        );
 
        Collider^ createCompoundCollider(
            array<float> ^boxes,
            SharpKmyMath::Matrix4 ^mtx,
            SharpKmyMath::Vector3 ^scl,
            unsigned short group,
            unsigned short mask
        );
 
        RigidBody^ createBoxRigidBody(
            float halfWidth, float halfHeight, float halfDepth,
            float mass,
            bool kinematic,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask
        );
 
        RigidBody^ createSphereRigidBody(
            float radius,
            float mass,
            bool kinematic,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask
        );
 
        RigidBody^ createCapsuleRigidBody(
            float radius,
            float height,
            float mass,
            bool kinematic,
            SharpKmyMath::Matrix4 ^mtx,
            unsigned short group,
            unsigned short mask,
            int axis
        );
 
        RigidBody^ createCompoundRigidBody(
            array<float> ^boxes,
            float mass,
            bool kinematic,
            SharpKmyMath::Matrix4 ^mtx,
            SharpKmyMath::Vector3 ^scl,
            unsigned short group,
            unsigned short mask
        );
 
        RigidBody^ createTriMeshRigidBody(
            System::Guid guid,
            SharpKmyMath::Vector3 ^massCenter,
            float mass,
            bool kinematic,
            SharpKmyMath::Matrix4 ^mtx,
            SharpKmyMath::Vector3 ^scl,
            unsigned short group,
            unsigned short mask
        );
 
        Vehicle^ createVehicle(
            float width, float height, float depth
            , float wheelRadius, float wheelWidth, float wheelFriction
            , float suspensionRestLength, float connectionHeight
            , float suspensionStiffness, float suspensionDamping, float suspensionCompression
            , float rigidbodyOffsetX, float rigidbodyOffsetY, float rigidbodyOffsetZ
            , float positionX, float positionY, float positionZ
            , float mass
        );
 
        void update(f32 delta);
        DebugDrawError getDebugDrawError();
 
    private:
        kmyPhysics::PhysicsBase *obj = nullptr;
    };
 
 
 
}