solid.h

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#ifndef SOLID_H
#define SOLID_H

#include "../engine/le3d.h"
#include <stdint.h>

/*****************************************************************************/
// Physical constants
#define VISCOSITY_OIL       1500fe-3
#define VISCOSITY_WATER     1.0fe-3
#define VISCOSITY_AIR       0.02fe-3

/*****************************************************************************/
enum LE_SOLID_SYSTEM {
    LE_SOLID_SYSTEM_ABSOLUTE        = 0,        
    LE_SOLID_SYSTEM_RELATIVE        = 1,        
};

/*****************************************************************************/
class LeSolid {
public:
    LeSolid();
    ~LeSolid();

    void init(const LeVertex & pos);
    void stop();

    void configure(float mass, float radius);

    void glueMoveAxis(LeVertex axis);
    void glueRotateAxis(LeVertex axis);

    void collideSolid(LeVertex contact, LeSolid & collider);
    void collideHard(LeVertex contact, LeVertex normal, float rigidity);

    void applyFriction(LeVertex normal, float friction);

    void applyForce(LeVertex force);
    void applyForceRight(float force);
    void applyForceUp(float force);
    void applyForceBack(float force);
    
    void applyTorque(LeVertex torque);
    void applyTorqueRight(float torque);
    void applyTorqueUp(float torque);
    void applyTorqueBack(float torque);

    void applyForcePoint(LeVertex point, LeVertex force);
    void applyTorquePoint(LeVertex point, LeVertex torque);
    
    void update(float dt);
    
private:
    void applyGravity();
    void applyGround();

    void computeVectors();
    void computeFriction(float dt);

public:
    float adhesion;
    float rigidity;
    float gravity;

    float groundLevel;
    float groundFriction;
    
    LE_SOLID_SYSTEM fluidSystem;
    LeVertex fluid1Move;
    LeVertex fluid1Rotate;
    LeVertex fluid2Move;
    LeVertex fluid2Rotate;

    LeVertex glueMove;
    LeVertex glueRotate;

    LeVertex pos;
    LeVertex posSpeed;
    LeVertex posAccel;

    LeVertex rot;
    LeVertex rotSpeed;
    LeVertex rotAccel;

    LeVertex rightVector;
    LeVertex upVector;
    LeVertex backVector;
        
private:
    float lastdt;
    LeVertex frictionAccel;

    float mass, imass;
    float inertia, iinertia;
    float radius;
};

#endif