sf3_physics_model.h

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#ifndef __SF3_PHYSICS_MODEL__
#define __SF3_PHYSICS_MODEL__
#include "sf3_core.h"
 
#define SF3_FORMAT_ID_PHYSICS_MODEL 0x06
 
enum sf3_physics_shape_type{
  SF3_PHYSICS_SHAPE_ELLIPSOID = 0x01,
  SF3_PHYSICS_SHAPE_BOX = 0x02,
  SF3_PHYSICS_SHAPE_CYLINDER = 0x03,
  SF3_PHYSICS_SHAPE_PILL = 0x04,
  SF3_PHYSICS_SHAPE_MESH = 0x05,
};
 
struct SF3_PACK sf3_shape_ellipsoid{
  float transform[16];
  uint8_t type;
  float w;
  float h;
  float d;
};
 
struct SF3_PACK sf3_shape_box{
  float transform[16];
  uint8_t type;
  float w;
  float h;
  float d;
};
 
struct SF3_PACK sf3_shape_cylinder{
  float transform[16];
  uint8_t type;
  float bottom_radius;
  float top_radius;
  float height;
};
 
struct SF3_PACK sf3_shape_pill{
  float transform[16];
  uint8_t type;
  float bottom_radius;
  float top_radius;
  float height;
};
 
struct SF3_PACK sf3_shape_mesh{
  float transform[16];
  uint8_t type;
  uint16_t count;
  float vertices[];
};
 
struct SF3_PACK sf3_physics_shape{
  float transform[16];
  uint8_t type;
};
 
struct SF3_PACK sf3_physics_model{
  struct sf3_identifier identifier;
  float mass;
  float tensor[9];
  uint16_t shape_count;
  struct sf3_physics_shape shapes[];
};
 
SF3_INLINE const struct sf3_physics_shape *sf3_physics_model_next_shape(const struct sf3_physics_shape *shape){
  const char *base = (char*)shape;
  switch(shape->type){
  case SF3_PHYSICS_SHAPE_ELLIPSOID:
    return (const struct sf3_physics_shape *)(base+sizeof(struct sf3_shape_ellipsoid));
  case SF3_PHYSICS_SHAPE_BOX:
    return (const struct sf3_physics_shape *)(base+sizeof(struct sf3_shape_box));
  case SF3_PHYSICS_SHAPE_CYLINDER:
    return (const struct sf3_physics_shape *)(base+sizeof(struct sf3_shape_cylinder));
  case SF3_PHYSICS_SHAPE_PILL:
    return (const struct sf3_physics_shape *)(base+sizeof(struct sf3_shape_pill));
  case SF3_PHYSICS_SHAPE_MESH:{
    const struct sf3_shape_mesh *mesh = (const struct sf3_shape_mesh *)shape;
    return (const struct sf3_physics_shape *)(mesh->vertices+(mesh->count*3));
  }
  default: return 0;
  }
}
 
SF3_EXPORT const char *sf3_physics_shape_type(enum sf3_physics_shape_type type){
  switch(type){
  case SF3_PHYSICS_SHAPE_ELLIPSOID: return "ellipsoid";
  case SF3_PHYSICS_SHAPE_BOX: return "box";
  case SF3_PHYSICS_SHAPE_CYLINDER: return "cylinder";
  case SF3_PHYSICS_SHAPE_PILL: return "pill";
  case SF3_PHYSICS_SHAPE_MESH: return "mesh";
  default: return "Unknown";
  }
}
 
SF3_EXPORT size_t sf3_physics_model_size(const struct sf3_physics_model *physics_model){
  if(physics_model->shape_count == 0) return sizeof(struct sf3_physics_model);
  const struct sf3_physics_shape *shape = &physics_model->shapes[0];
  for(uint16_t i=0; i<physics_model->shape_count; ++i){
    shape = sf3_physics_model_next_shape(shape);
  }
  const void *start = (const void *)physics_model;
  const void *end = (const void *)shape;
  return (end-start);
}
#endif