/Users/frarees/Desktop/rv1/source/inc/Body.h

//
// Body.h: describe the physics of a solid 3D object
//

#ifndef __NEWBODY_H__
#define __NEWBODY_H__

#define SMALL_ANGVEL TO_ANGVEL(Real(0.000001))

#define REMOVE_JITTER TRUE

#define CLOSE_BODY_COLL   TO_LENGTH(Real(300.0f))
#define CLOSE_BODY_COLL_DOT (0.1f)

#define BODY_COLL_CONVEX  0x0
#define BODY_COLL_SPHERE  0x1
#define BODY_COLL_POLY    0x2

#define MAX_SPARKS_PER_BODY 10
#define MAX_SMOKES_PER_BODY 2

#define MAX_SCRAPE_TIME   Real(0.05f)

#define MIN_KNOCK_VEL   TO_VEL(Real(300))

struct BodyCollInfoStruct;

typedef struct NewBodyStruct {
  PARTICLE Centre;      // centre of mass properties
  
  MAT   BodyInertia;    // Mass Matrix          (note: could be made into a vector
  MAT   BodyInvInertia;   // Inverse Mass Matrix            since it is diagonal)

  MAT   WorldInvInertia;  // Inverse inertia matrix in world frame

  VEC   AngVel;       // Angular velocity
  VEC   AngAcc;       // Angular acceleration
  VEC   AngImpulse;     // Angular Impulse

  REAL  DefaultAngRes;
  REAL  AngResMod;  
  REAL  AngResistance;

  COLLSKIN  CollSkin;   // Collision skin: array of convex polytopes

  // Stuff to remove jitter
  VEC   LastAngVel;   // Angular Impulse from last frame
  bool  IsJittering;    // Whether body is jittering
  int   JitterCount;    // Number of times the object has "jittered"
  int   JitterCountMax;   // Max number of jitters allowed
  int   JitterFrames;   // Number of frames between last and next jitter
  int   JitterFramesMax;  // Max number of frames between jitters for it to count as a jitter

  // Info on the number of cantact points this frame
  COLLINFO_BODY *BodyCollHead;        // Contact point list head
  int       NBodyColls;         // Number of body contact points

  int   NWorldContacts;
  int   NOtherContacts;
  REAL  NoContactTime;

  bool  AllowSparks;    // Whether this body sparks against hard materials or not
  long  ScrapeMaterial;   // The type of material the car is scraping against (or MATERIAL_NONE)
  REAL  LastScrapeTime;   // Time between scrapes

  bool  Banged;
  REAL  BangMag;
  PLANE BangPlane;

} NEWBODY;


//
// Defined functions
//

//void ApplyBodyAngImpulse(NEWBODY *body, VEC *angImpulse)
#define ApplyBodyAngImpulse(body, angImpulse) \
{ \
  VecPlusEqVec(&(body)->AngImpulse, (angImpulse)); \
}

//void CalcAngImpulse(VEC *impulse, VEC *pos, VEC *angImp)
#define CalcAngImpulse(impulse, pos, angImp) \
{ \
  VecCrossVec((pos), (impulse), (angImp)); \
}

#define SetBodyConvex(body)   ((body)->CollSkin.CollType = BODY_COLL_CONVEX)
#define IsBodyConvex(body)    ((body)->CollSkin.CollType == BODY_COLL_CONVEX)
#define SetBodySphere(body)   ((body)->CollSkin.CollType = BODY_COLL_SPHERE)
#define IsBodySphere(body)    ((body)->CollSkin.CollType == BODY_COLL_SPHERE)
#define SetBodyPoly(body)   ((body)->CollSkin.CollType = BODY_COLL_POLY)
#define IsBodyPoly(body)    ((body)->CollSkin.CollType == BODY_COLL_POLY)


#define BodyAllowsSparks(body)  ((body)->AllowSparks)

//
// Function prototypes
//

extern void ApplyBodyImpulse(NEWBODY *body, VEC *impulse, VEC *impulsePos);
extern void UpdateBody(NEWBODY *body, REAL dt);
extern void BodyPointVel(NEWBODY *body, VEC *dR, VEC *vel);

extern void InitBodyDefault(NEWBODY *body);
extern void SetBodyPos(NEWBODY *body, VEC *pos, MAT *mat);
extern void SetBodyInertia(NEWBODY *body, MAT *inertia);
extern void BuildCuboidInertia(REAL mass, REAL xDim, REAL yDim, REAL zDim, VEC *mat);
extern void MoveInertiaAxis(MAT *inIn, REAL mass, REAL dx, REAL dy, REAL dz, MAT *inOut);
extern void GetFrameInertia(MAT *bodyInvInertia, MAT *transform, MAT *worldInvInertia);
extern REAL BodyKE(NEWBODY *body);

extern void BuildOneBodyColMat(NEWBODY *body, VEC *colPos, VEC *colPos2, MAT *colMat);
extern void BuildTwoBodyColMat(NEWBODY *body1, NEWBODY *body2, VEC *colPos1, VEC *relPos1, VEC *colPos2, VEC *relPos2, MAT *colMat);

extern REAL OneBodyZeroFrictionImpulse(NEWBODY *body, 
                VEC *pos, 
                VEC *normal,
                REAL deltaVel);
extern void TwoBodyZeroFrictionImpulse(NEWBODY *body1, NEWBODY *body2,
                VEC *pos1, VEC *pos2, 
                VEC *normal,
                REAL deltaVel, 
                VEC *impulse);

extern void SetBodyBBoxes(NEWBODY *body);

extern void DetectBodyWorldColls(NEWBODY *body);
extern int DetectBodyBodyColls(NEWBODY *body1, NEWBODY *body2);
extern void DetectBodyPolyColls(NEWBODY *body, NEWCOLLPOLY *collPoly);
extern int DetectConvexHullPolyColls(NEWBODY *body, NEWCOLLPOLY *collPoly);
extern int DetectHullHullColls(NEWBODY *body1, NEWBODY *body2);
extern void DetectSpherePolyColls(NEWBODY *body, NEWCOLLPOLY *collPoly);
extern int DetectSphereSphereColls(NEWBODY *body1, NEWBODY *body2);
extern int DetectSphereHullColls(NEWBODY *body1, NEWBODY *body2);
extern void PreProcessBodyColls(NEWBODY *body);
extern void ProcessBodyColls3(NEWBODY *body);
extern void PostProcessBodyColls(NEWBODY *body);
extern void AddBodyFriction(NEWBODY *body, VEC *impulse, COLLINFO_BODY *collInfo);
extern void BodyTurboBoost(NEWBODY *body);

extern void SetupMassiveBody();

extern void RemoveBodyColl(NEWBODY *body, COLLINFO_BODY *collInfo);
extern COLLINFO_BODY *AddBodyColl(NEWBODY *body, COLLINFO_BODY *newHead);


//
// Externed globals
//

extern REAL BDY_Tolerance;
extern NEWBODY  BDY_MassiveBody;

#endif

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