PhysicsObject.h

#pragma once
 
#include "Math/Matrix4.h"
#include "math/Vector3.h"
#include "math/Quat.h"
 
namespace kmyPhysics {
    class PhysicsObject;
}
 
namespace SharpKmyPhysics
{
    ref class RigidBody;
    ref class Collider;
 
    public ref class PhysicsObject
    {
        kmyPhysics::PhysicsObject* obj = nullptr;
        bool ownptr = false;
 
    public:
        PhysicsObject();
        PhysicsObject(kmyPhysics::PhysicsObject* o);
        ~PhysicsObject();
        void clearPhysics() {
            if (obj)obj->clearPhysics();
        }
        void setFellowId(int id) {
            if (obj)obj->setFellowId(id);
        }
 
        void setLocalMatrix(SharpKmyMath::Matrix4 mtx);
        void setLocalMatrixWithoutScale(SharpKmyMath::Matrix4 mtx);
        void setTranslate(SharpKmyMath::Vector3 trans);
        void setRotate(SharpKmyMath::Quat q);
        void setScale(SharpKmyMath::Vector3 scale);
 
        void setRigidBody(SharpKmyPhysics::RigidBody^ rb, SharpKmyMath::Matrix4 offset);
        void addRigidBody(SharpKmyPhysics::RigidBody^ rb, System::String ^nodename, SharpKmyMath::Matrix4 offset, System::String^ objname, bool controlRigidBody);
        void addCollider(SharpKmyPhysics::Collider^ cd, System::String ^nodename, SharpKmyMath::Matrix4 offset, System::String^ objname);
        void addSixDofConstraint(System::String^ nameA, System::String^ nameB,
            SharpKmyMath::Vector3 worldPivot,
            SharpKmyMath::Vector3 lowerSlideLimit,
            SharpKmyMath::Vector3 upperSlideLimit,
            SharpKmyMath::Vector3 lowerAngularLimit,
            SharpKmyMath::Vector3 upperAngularLimit,
            array<bool> ^spring,
            array<float> ^stiffnes,
            array<float> ^damping);
        void resetRigidBodyPosition();
 
        SharpKmyMath::Matrix4 getNodeWorldMatrix(System::String^ name);
        SharpKmyPhysics::RigidBody^ getRigidBody(System::String^ name);
        SharpKmyPhysics::Collider^ getCollider(System::String^ name);
 
        void setDisplayID(u32 displayID) { if (obj)obj->setDisplayID(displayID); }
        u32 getDisplayID() { return obj ? obj->getDisplayID() : 0; }
        void setParent(PhysicsObject^ parent, System::String^ nodename);
        void updateMatrix();
        SharpKmyMath::Matrix4 getWorldMatrix();
 
        void enable();
        void disable();
        bool isEnabled();
    };
}