RigidDynamic::Kinematic

Author: NicusorN5

3DRadSpace/Engine3DRadSpace/Physics/IDynamicCollider.hpp

@@ -41,5 +41,6 @@ namespace Engine3DRadSpace::Physics
 		virtual void ApplyAngularAcceleration(const Math::Vector3& acc) = 0;
 
 		virtual void Teleport(const Math::Vector3& position, const std::optional<Math::Quaternion>& rotation = std::nullopt) = 0;
+		virtual void SetKinematic(bool isKinematic) = 0;
 	};
 }

3DRadSpace/Engine3DRadSpace/Physics/NVPhysX/DynamicCollider.cpp

@@ -279,4 +279,14 @@ void DynamicCollider::Teleport(const Math::Vector3 & position, const std::option
 		physx::PxVec3(position.X, position.Y, position.Z),
 		physx::PxQuat(-rot.X, -rot.Y, -rot.Z, rot.W)
 	));
+}
+
+void DynamicCollider::SetKinematic(bool isKinematic)
+{
+	if(_rigidbody == nullptr) return;
+
+	if(isKinematic)
+		_rigidbody->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, true);
+	else
+		_rigidbody->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, false);
 }

3DRadSpace/Engine3DRadSpace/Physics/NVPhysX/DynamicCollider.hpp

@@ -60,7 +60,9 @@ namespace Engine3DRadSpace::Physics::NVPhysX
 
 		void AttachShape(const Math::BoundingBox& box) override;
 		void AttachShape(const Math::BoundingSphere& sphere) override;
+
 		void Teleport(const Math::Vector3& position, const std::optional<Math::Quaternion>& rotation = std::nullopt) override;
+		void SetKinematic(bool isKinematic) override;
 
 		friend class PhysicsEngine;
 

3DRadSpace/Engine3DRadSpace/Physics/Objects/RigidDynamic.cpp

@@ -24,7 +24,8 @@ RigidDynamic::RigidDynamic(
 	Restitution(this),
 	LinearVelocity(this),
 	AngularVelocity(this),
-	MaxAngularVelocity(this)
+	MaxAngularVelocity(this),
+	Kinematic(this)
 {
 }
 
@@ -140,6 +141,11 @@ void RigidDynamic::Initialize()
 {
 	IPhysicsObject::Initialize();
 	_collider = _physics->CreateDynamicCollider();
+	
+	if(Children.Count() == 0)
+	{
+		Enabled = false;
+	}
 
 	for(auto& child : Children)
 	{
@@ -184,8 +190,9 @@ void RigidDynamic::Initialize()
 		_collider->LinearVelocity = _properties->linearVelocity;
 		_collider->AngularVelocity = _properties->angularVelocity;
 		_collider->MaxAngularVelocity = _properties->maxAngularVelocity;
+	
+		_properties.reset();
 	}
-	_properties.reset();
 
 	_collider->UpdateTransform(Position, Rotation);
 }
@@ -265,11 +272,23 @@ Gizmos::IGizmo* RigidDynamic::GetGizmo() const noexcept
 	return Internal::GizmoOf<RigidDynamic>(this);
 }
 
+void RigidDynamic::_setKinematic(bool isKinematic)
+{
+	_kinematic = isKinematic;
+	if(_collider) _collider->SetKinematic(isKinematic);
+}
+
+bool RigidDynamic::_isKinematic() const noexcept
+{
+	return _kinematic;
+}
+
 REFL_BEGIN(RigidDynamic, "RigidDynamic", "Physics", "A physics object with dynamic rigidbody colliders")
 REFL_FIELD(RigidDynamic, std::string, Name, "Name", "RigidDynamic", "Object of the name")
 REFL_FIELD(RigidDynamic, bool, Enabled, "Enabled", true, "Is the physics object active?")
 REFL_FIELD(RigidDynamic, Math::Vector3, Position, "Position", Math::Vector3::Zero(), "World position of the physics object")
 REFL_FIELD(RigidDynamic, Math::Quaternion, Rotation, "Rotation", Math::Quaternion(), "World rotation of the physics object")
+REFL_FIELD(RigidDynamic, bool, Kinematic, "Kinematic", false, "Is the rigidbody kinematic?")
 REFL_FIELD(RigidDynamic, float, Mass, "Mass", 1.0f, "Mass of the rigidbody")
 REFL_FIELD(RigidDynamic, float, LinearDamping, "Linear Damping", 0.0f, "Linear damping coefficient")
 REFL_FIELD(RigidDynamic, float, AngularDamping, "Angular Damping", 0.05f, "Angular damping coefficient")

3DRadSpace/Engine3DRadSpace/Physics/Objects/RigidDynamic.hpp

@@ -54,6 +54,10 @@ namespace Engine3DRadSpace::Physics::Objects
 
 		Math::Vector3 _getMaxAngularVelocity() const noexcept;
 		void _setMaxAngularVelocity(const Math::Vector3& maxAngularVelocity);
+
+		bool _kinematic = false;
+		bool _isKinematic() const noexcept;
+		void _setKinematic(bool isKinematic);
 	public:
 		RigidDynamic(
 			const std::string& name = "RigidDynamic",
@@ -84,6 +88,7 @@ namespace Engine3DRadSpace::Physics::Objects
 		GetSet<Math::Vector3, RigidDynamic, &_getLinearVelocity, &_setLinearVelocity> LinearVelocity;
 		GetSet<Math::Vector3, RigidDynamic, &_getAngularVelocity, &_setAngularVelocity> AngularVelocity;
 		GetSet<Math::Vector3, RigidDynamic, &_getMaxAngularVelocity, &_setMaxAngularVelocity> MaxAngularVelocity;
+		GetSet<bool, RigidDynamic, &RigidDynamic::_isKinematic, &RigidDynamic::_setKinematic> Kinematic;
 
 		IDynamicCollider* GetCollider() const noexcept;
 	};