SphereLink.hh

#pragma once
 
#include <egg/math/Vector.hh>
 
namespace Kinoko::Field {

class SphereLink {
public:
    SphereLink();
    ~SphereLink();
 
    void initLinkLen(f32 length);
    void init();
    void calcStiffness();
    void calc();
    void calcConstraints(f32 scale);
    void checkCollision();
    void calcPos();
 
    [[nodiscard]] bool isLeader() const {
        return !m_prev;
    }

    void setPrev(SphereLink *prev) {
        m_prev = prev;
    }
 
    void setNext(SphereLink *next) {
        m_next = next;
    }
 
    void setPos(const EGG::Vector3f &pos) {
        m_pos = pos;
    }
 
    void setVel(const EGG::Vector3f &vel) {
        m_vel = vel;
    }
 
    void addSpringForce(const EGG::Vector3f &force) {
        m_springForce += force;
    }

    [[nodiscard]] f32 linkLen() const {
        return m_linkLen;
    }
 
    [[nodiscard]] const EGG::Vector3f &pos() const {
        return m_pos;
    }
 
    [[nodiscard]] const EGG::Vector3f &up() const {
        return m_up;
    }
 
    [[nodiscard]] static constexpr const EGG::Vector3f &Gravity() {
        return GRAVITY;
    }
 
private:
    void calcSpring();
 
    SphereLink *m_prev;
    SphereLink *m_next;
    f32 m_linkLen; 
    EGG::Vector3f m_pos;
    EGG::Vector3f m_vel;
    EGG::Vector3f m_springForce; 
    EGG::Vector3f m_up;
    bool m_touchingGround;
 
    static constexpr EGG::Vector3f GRAVITY = EGG::Vector3f(0.0f, 2.5f, 0.0f);
};
 
} // namespace Kinoko::Field