Body.chs

-- | Description: Rigid bodies manipulations
-- Module provides access to the rigid bodies which are at the core of the physics simulation.
module Chiphunk.Low.Body
  ( Body
  , BodyType (..)
  , bodyNew
  , bodyNewKinematic
  , bodyNewStatic
  , bodyFree
  , bodyType
  , bodyMass
  , bodyMoment
  , bodyPosition
  , bodyCenterOfGravity
  , bodyVelocity
  , bodyForce
  , bodyAngle
  , bodyAngularVelocity
  , bodyTorque
  , bodyRotation
  , bodySpace
  , bodyUserData
  , bodyLocalToWorld
  , bodyWorldToLocal
  , bodyVelocityAtWorldPoint
  , bodyVelocityAtLocalPoint
  , bodyApplyForceAtWorldPoint
  , bodyApplyForceAtLocalPoint
  , bodyApplyImpulseAtWorldPoint
  , bodyApplyImpulseAtLocalPoint
  , bodyIsSleeping
  , bodyActivate
  , bodySleep
  , bodyActivateStatic
  , bodySleepWithGroup
  , BodyShapeIteratorFunc
  , bodyEachShape
  , BodyConstraintIteratorFunc
  , bodyEachConstraint
  , BodyArbiterIteratorFunc
  , bodyEachArbiter
  ) where

import Chiphunk.Low.Vect
import Control.Exception.Safe
import Data.StateVar
import Foreign

{# import Chiphunk.Low.Types #}

#include <chipmunk/chipmunk.h>
#include <wrapper.h>

-- | Creates body of type 'BodyTypeDynamic'.
{# fun unsafe cpBodyNew as bodyNew
  { `Double' -- ^ Mass of the body. Guessing is usually fine.

  , `Double' -- ^ Moment of inertia of the body.
             -- Guessing a moment of inertia can lead to a very poor simulation
             -- so it’s recommended to use Chipmunk’s moment calculations
             -- to estimate the moment for you.
  } -> `Body' #}

-- | Create body of type 'BodyTypeKimenatic'.
{# fun unsafe cpBodyNewKinematic as bodyNewKinematic {} -> `Body' #}

-- | Create body of type 'BodyTypeStatic'.
{# fun unsafe cpBodyNewStatic as bodyNewStatic {} -> `Body' #}

-- | Be careful not to free a body before any shapes or constraints attached to it
-- have been removed from a space.
{# fun cpBodyFree as bodyFree {`Body'} -> `()' #}
-- no "unsafe" qualifier because I think it may trigger callbacks

-- | Get the type of a body (dynamic, kinematic, static).
{# fun unsafe cpBodyGetType {`Body'} -> `BodyType' #}

{# fun unsafe cpBodySetType {`Body', `BodyType'} -> `()' #}

-- | Type of a body (dynamic, kinematic, static).
-- When changing an body to a dynamic body, the mass and moment of inertia
-- are recalculated from the shapes added to the body.
-- Custom calculated moments of inertia are not preseved when changing types.
-- This function cannot be called directly in a collision callback.
bodyType :: Body -> StateVar BodyType
bodyType = mkStateVar cpBodyGetType cpBodySetType

{# fun unsafe cpBodyGetMass {`Body'} -> `Double' #}

{# fun unsafe cpBodySetMass {`Body', `Double'} -> `()' #}

-- | Mass of the body.
bodyMass :: Body -> StateVar Double
bodyMass = mkStateVar cpBodyGetMass cpBodySetMass

{# fun unsafe cpBodyGetMoment {`Body'} -> `Double' #}

{# fun unsafe cpBodySetMoment {`Body', `Double'} -> `()' #}

-- | Moment of inertia (MoI or sometimes just moment) of the body.
-- The moment is like the rotational mass of a body.
-- See below for function to help calculate the moment.
bodyMoment :: Body -> StateVar Double
bodyMoment = mkStateVar cpBodyGetMoment cpBodySetMoment

{# fun unsafe w_cpBodyGetPosition {`Body', alloca- `Vect' peek*} -> `()' #}

{# fun unsafe cpBodySetPosition {`Body', with* %`Vect'} -> `()' #}

-- | Position of the body. When changing the position you may also want to call
-- 'spaceReindexShapesForBody' to update the collision detection information
-- for the attached shapes if plan to make any queries against the space.
bodyPosition :: Body -> StateVar Vect
bodyPosition = mkStateVar w_cpBodyGetPosition cpBodySetPosition

{# fun unsafe w_cpBodyGetCenterOfGravity {`Body', alloca- `Vect' peek*} -> `()' #}

{# fun unsafe cpBodySetCenterOfGravity {`Body', with* %`Vect'} -> `()' #}

-- | Location of the center of gravity in body local coordinates.
-- The default value is (0, 0), meaning the center of gravity
-- is the same as the position of the body.
bodyCenterOfGravity :: Body -> StateVar Vect
bodyCenterOfGravity = mkStateVar w_cpBodyGetCenterOfGravity cpBodySetCenterOfGravity

{# fun unsafe w_cpBodyGetVelocity {`Body', alloca- `Vect' peek*} -> `()' #}

{# fun unsafe cpBodySetVelocity {`Body', with* %`Vect'} -> `()' #}

-- | Linear velocity of the center of gravity of the body.
bodyVelocity :: Body -> StateVar Vect
bodyVelocity = mkStateVar w_cpBodyGetVelocity cpBodySetVelocity

{# fun unsafe w_cpBodyGetForce {`Body', alloca- `Vect' peek*} -> `()' #}

{# fun unsafe cpBodySetForce {`Body', with* %`Vect'} -> `()' #}

-- | Force applied to the center of gravity of the body.
-- This value is reset for every time step.
bodyForce :: Body -> StateVar Vect
bodyForce = mkStateVar w_cpBodyGetForce cpBodySetForce

{# fun unsafe cpBodyGetAngle {`Body'} -> `Double' #}

{# fun unsafe cpBodySetAngle {`Body', `Double'} -> `()' #}

-- | Set rotation of the body in radians.
-- When changing the rotation you may also want to call 'spaceReindexShapesForBody'
-- to update the collision detection information for the attached shapes
-- if you plan to make any queries against the space.
-- A body rotates around its center of gravity, not its position.
bodyAngle :: Body -> StateVar Double
bodyAngle = mkStateVar cpBodyGetAngle cpBodySetAngle

{# fun unsafe cpBodyGetAngularVelocity {`Body'} -> `Double' #}

{# fun unsafe cpBodySetAngularVelocity {`Body', `Double'} -> `()' #}

-- | Angular velocity of the body in radians per second.
bodyAngularVelocity :: Body -> StateVar Double
bodyAngularVelocity = mkStateVar cpBodyGetAngularVelocity cpBodySetAngularVelocity

{# fun unsafe cpBodyGetTorque {`Body'} -> `Double' #}

{# fun unsafe cpBodySetTorque {`Body', `Double'} -> `()' #}

-- | Torque applied to the body. This value is reset for every time step.
bodyTorque :: Body -> StateVar Double
bodyTorque = mkStateVar cpBodyGetTorque cpBodySetTorque

{# fun unsafe w_cpBodyGetRotation {`Body', alloca- `Vect' peek*} -> `()' #}

-- | The rotation vector for the body.
-- Can be used with 'vRotate' or 'vUnRotate' to perform fast rotations.
bodyRotation :: Body -> GettableStateVar Vect
bodyRotation = makeGettableStateVar . w_cpBodyGetRotation

{# fun unsafe cpBodyGetSpace {`Body'} -> `Space' #}

-- | The 'Space' that body has been added to.
bodySpace :: Body -> GettableStateVar Space
bodySpace = makeGettableStateVar . cpBodyGetSpace

{# fun unsafe cpBodyGetUserData {`Body'} -> `DataPtr' #}

{# fun unsafe cpBodySetUserData {`Body', `DataPtr'} -> `()' #}

-- | User data pointer. Use this pointer to get a reference to the game object
-- that owns this body from callbacks.
bodyUserData :: Body -> StateVar DataPtr
bodyUserData = mkStateVar cpBodyGetUserData cpBodySetUserData

-- | Convert from body local coordinates to world space coordinates.
{# fun unsafe w_cpBodyLocalToWorld as bodyLocalToWorld {`Body', with* %`Vect', alloca- `Vect' peek*} -> `()' #}

-- | Convert from world space coordinates to body local coordinates.
{# fun unsafe w_cpBodyWorldToLocal as bodyWorldToLocal {`Body', with* %`Vect', alloca- `Vect' peek*} -> `()' #}

{# fun unsafe w_cpBodyGetVelocityAtWorldPoint
  {`Body', with* %`Vect', alloca- `Vect' peek*} -> `()' #}

-- | Absolute velocity of the rigid body at the given world point.
bodyVelocityAtWorldPoint :: Body -> Vect -> GettableStateVar Vect
bodyVelocityAtWorldPoint body = makeGettableStateVar . w_cpBodyGetVelocityAtWorldPoint body

{# fun unsafe w_cpBodyGetVelocityAtLocalPoint
  {`Body', with* %`Vect', alloca- `Vect' peek*} -> `()' #}

-- | Absolute velocity of the rigid body at the given body local point.
bodyVelocityAtLocalPoint :: Body -> Vect -> GettableStateVar Vect
bodyVelocityAtLocalPoint body = makeGettableStateVar . w_cpBodyGetVelocityAtLocalPoint body

-- | Add the @force@ to @body@ as if applied from the world @point@.
{# fun unsafe cpBodyApplyForceAtWorldPoint as bodyApplyForceAtWorldPoint
  { `Body'        -- ^ body
  , with* %`Vect' -- ^ force
  , with* %`Vect' -- ^ point
  } -> `()' #}

-- | Add the local @force@ to @body@ as if applied from the body local @point@.
{# fun unsafe cpBodyApplyForceAtLocalPoint as bodyApplyForceAtLocalPoint
  { `Body'        -- ^ body
  , with* %`Vect' -- ^ force
  , with* %`Vect' -- ^ point
  } -> `()' #}

-- | Add the @impulse@ to @body@ as if applied from the world @ point@.
{# fun unsafe cpBodyApplyImpulseAtWorldPoint as bodyApplyImpulseAtWorldPoint
  { `Body'        -- ^ body
  , with* %`Vect' -- ^ impulse
  , with* %`Vect' -- ^ point
  } -> `()' #}

-- | Add the local @impulse@ to @body@ as if applied from the body local @point@.
{# fun unsafe cpBodyApplyImpulseAtLocalPoint as bodyApplyImpulseAtLocalPoint
  { `Body'        -- ^ body
  , with* %`Vect' -- ^ impulse
  , with* %`Vect' -- ^ point
  } -> `()' #}

-- | Returns true if body is sleeping.
{# fun unsafe cpBodyIsSleeping as bodyIsSleeping {`Body'} -> `Bool' #}

-- | Reset the idle timer on a body. If it was sleeping, wake it and any other bodies it was touching.
{# fun unsafe cpBodyActivate as bodyActivate {`Body'} -> `()' #}

-- | Forces a body to fall asleep immediately even if it’s in midair. Cannot be called from a callback.
{# fun unsafe cpBodySleep as bodySleep {`Body'} -> `()' #}

-- | Activates all bodies touching @body@.
-- If @filter@ is not 'nullPtr', then only bodies touching through @filter@ will be awoken.
{# fun unsafe cpBodyActivateStatic as bodyActivateStatic
  { `Body'  -- ^ body
  , `Shape' -- ^ filter
  } -> `()' #}

-- | When objects in Chipmunk sleep, they sleep as a group of all objects that are touching or jointed together.
-- When an object is woken up, all of the objects in its group are woken up.
-- 'bodySleepWithGroup' allows you group sleeping objects together.
-- It acts identically to 'bodySleep' if you pass 'nullPtr' as @group@ by starting a new group.
-- If you pass a sleeping body for @group@, @body@ will be awoken when group is awoken.
-- You can use this to initialize levels and start stacks of objects in a pre-sleeping state.
{# fun unsafe cpBodySleepWithGroup as bodySleepWithGroup
  { `Body' -- ^ body
  , `Body' -- ^ group
  } -> `()' #}

-- | Type of callback which can be used to iterate all 'Shape's in a 'Body'.
type BodyShapeIteratorFunc = Body -> Shape -> Ptr () -> IO ()

foreign import ccall unsafe "wrapper"
  mkBodyShapeIteratorFunc :: BodyShapeIteratorFunc -> IO (FunPtr BodyShapeIteratorFunc)

-- | Call @func@ once for each shape that is attached to @body@ and added to a space.
-- @data@ is passed along as a context value. It is safe to remove shapes using these callbacks.
{# fun cpBodyEachShape as bodyEachShape
  { `Body'                                -- ^ body
  , withIterator* `BodyShapeIteratorFunc' -- ^ func
  , `Ptr ()'                              -- ^ data
  } -> `()' #}
  where
    withIterator i = mkBodyShapeIteratorFunc i `bracket` freeHaskellFunPtr

-- | Type of callback which can be used to iterate all 'Constraint's in a 'Body'.
type BodyConstraintIteratorFunc = Body -> Constraint -> Ptr () -> IO ()

foreign import ccall unsafe "wrapper"
  mkBodyConstraintIteratorFunc :: BodyConstraintIteratorFunc -> IO (FunPtr BodyConstraintIteratorFunc)

-- | Call @func@ once for each constraint that is attached to @body@ and added to a space.
-- @data@ is passed along as a context value. It is safe to remove constraints using thes callbacks.
{# fun cpBodyEachConstraint as bodyEachConstraint
  { `Body'                                     -- ^ body
  , withIterator* `BodyConstraintIteratorFunc' -- ^ func
  , `Ptr ()'                                   -- ^ data
  } -> `()' #}
  where
    withIterator i = mkBodyConstraintIteratorFunc i `bracket` freeHaskellFunPtr

-- | Type of callback which can be used to iterate all 'Arbiter's in a 'Body'.
type BodyArbiterIteratorFunc = Body -> Arbiter -> Ptr () -> IO ()

foreign import ccall unsafe "wrapper"
  mkBodyArbiterIteratorFunc :: BodyArbiterIteratorFunc -> IO (FunPtr BodyArbiterIteratorFunc)

-- | This one is more interesting. Calls @func@ once for each collision pair that @body@ is involved in.
-- Calling 'arbiterGetBodies'/'arbiterGetShapes' will return the body or shape for body as the first argument.
-- You can use this to check all sorts of collision information for a body like if it’s touching the ground,
-- another particular object, how much collision force is being applied to an object, etc.
--
-- Sensor shapes and arbiters that have been rejected by a collision handler callback or 'arbiterIgnore'
-- are not tracked by the contact graph.
{# fun cpBodyEachArbiter as bodyEachArbiter
  { `Body'                                  -- ^ body
  , withIterator* `BodyArbiterIteratorFunc' -- ^ func
  , `Ptr ()'                                -- ^ data
  } -> `()' #}
  where
    withIterator i = mkBodyArbiterIteratorFunc i `bracket` freeHaskellFunPtr