Add tests, Sim Data

Author: FahdSeddik

include/fzx/body/.gitkeep

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+/*********************************************************************************
+ * FZX-library                                                                   *
+ * Copyright (c) 2025 Fahd Seddik                                                *
+ *********************************************************************************
+ *                                                                               *
+ * This software is provided 'as-is', without any express or implied warranty.   *
+ * In no event will the authors be held liable for any damages arising from the  *
+ * use of this software.                                                         *
+ *                                                                               *
+ * Permission is granted to anyone to use this software for any purpose,         *
+ * including commercial applications, and to alter it and redistribute it        *
+ * freely, subject to the following restrictions:                                *
+ *                                                                               *
+ * 1. The origin of this software must not be misrepresented; you must not claim *
+ *    that you wrote the original software. If you use this software in a        *
+ *    product, an acknowledgment in the product documentation would be           *
+ *    appreciated but is not required.                                           *
+ *                                                                               *
+ * 2. Altered source versions must be plainly marked as such, and must not be    *
+ *    misrepresented as being the original software.                             *
+ *                                                                               *
+ * 3. This notice may not be removed or altered from any source distribution.    *
+ *                                                                               *
+ ********************************************************************************/
+#pragma once
+
+#include <fzx/memory/DefaultAllocator.h>
+
+namespace fzx {
+
+class AllocatorHub {
+   public:
+    enum class AllocationType {
+        Default,
+        // Add more types as needed, e.g., Pool, Stack, etc.
+    };
+
+    static AllocatorHub& getInstance() {
+        static AllocatorHub instance;
+        return instance;
+    }
+
+    void* malloc(uint64_t size, AllocationType type = AllocationType::Default) {
+        void* ptr = nullptr;
+        switch (type) {
+            case AllocationType::Default:
+                ptr = _defaultAllocator.malloc(size);
+                break;
+                // Add more cases for other allocators if needed
+        }
+        if (ptr && _initializeMemory) {
+            std::memset(ptr, 0, size);
+        }
+        return ptr;
+    }
+
+    void free(void* ptr, uint64_t size, AllocationType type = AllocationType::Default) {
+        switch (type) {
+            case AllocationType::Default:
+                _defaultAllocator.free(ptr, size);
+                break;
+                // Add more cases for other allocators if needed
+        }
+    }
+
+    void setInitializeMemory(bool initialize) {
+        _initializeMemory = initialize;
+    }
+
+    DefaultAllocator& getDefaultAllocator() { return _defaultAllocator; }
+    // Add more getters for other allocators if needed
+
+   private:
+    DefaultAllocator _defaultAllocator;
+    bool _initializeMemory;
+
+    AllocatorHub() : _initializeMemory(false) {}
+
+    ~AllocatorHub() = default;
+};
+
+}  // namespace fzx

include/fzx/collision/.gitkeep

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+/*********************************************************************************
+ * FZX-library                                                                   *
+ * Copyright (c) 2025 Fahd Seddik                                                *
+ *********************************************************************************
+ *                                                                               *
+ * This software is provided 'as-is', without any express or implied warranty.   *
+ * In no event will the authors be held liable for any damages arising from the  *
+ * use of this software.                                                         *
+ *                                                                               *
+ * Permission is granted to anyone to use this software for any purpose,         *
+ * including commercial applications, and to alter it and redistribute it        *
+ * freely, subject to the following restrictions:                                *
+ *                                                                               *
+ * 1. The origin of this software must not be misrepresented; you must not claim *
+ *    that you wrote the original software. If you use this software in a        *
+ *    product, an acknowledgment in the product documentation would be           *
+ *    appreciated but is not required.                                           *
+ *                                                                               *
+ * 2. Altered source versions must be plainly marked as such, and must not be    *
+ *    misrepresented as being the original software.                             *
+ *                                                                               *
+ * 3. This notice may not be removed or altered from any source distribution.    *
+ *                                                                               *
+ ********************************************************************************/
+#pragma once
+
+#include <fzx/mathematics/Vec3.h>
+
+#include <sstream>
+#include <string>
+
+namespace fzx {
+
+/**
+ * @brief Simulation configuration struct for FZX physics engine.
+ */
+struct SimConfig {
+    std::string simName;
+    Vec3 gravity;
+    real staticFriction;
+    real dynamicFriction;
+    real restitution;
+    real restitutionVelocityThreshold;
+    bool allowSleep;
+    real sleepLinearVelocity;
+    real sleepAngularVelocity;
+    int sleepSteps;
+    real timeStep;
+    int solverIterations;
+
+    // Default constructor with reasonable defaults
+    SimConfig()
+        : simName("FZX Simulation"),
+          gravity(0, real(-9.81), 0),
+          staticFriction(real(0.5)),
+          dynamicFriction(real(0.3)),
+          restitution(real(0.2)),
+          restitutionVelocityThreshold(real(1.0)),
+          allowSleep(true),
+          sleepLinearVelocity(real(0.05)),
+          sleepAngularVelocity(real(0.05)),
+          sleepSteps(60),
+          timeStep(real(1.0 / 60.0)),
+          solverIterations(10) {}
+
+    // Returns a string representation of the config
+    std::string toString() const {
+        std::ostringstream oss;
+        oss << "SimConfig{name=\"" << simName
+            << "\", gravity=(" << gravity.x << "," << gravity.y << "," << gravity.z << ")"
+            << ", staticFriction=" << staticFriction
+            << ", dynamicFriction=" << dynamicFriction
+            << ", restitution=" << restitution
+            << ", restVelThresh=" << restitutionVelocityThreshold
+            << ", allowSleep=" << (allowSleep ? "true" : "false")
+            << ", sleepLinVel=" << sleepLinearVelocity
+            << ", sleepAngVel=" << sleepAngularVelocity
+            << ", sleepSteps=" << sleepSteps
+            << ", timeStep=" << timeStep
+            << ", solverIters=" << solverIterations
+            << "}";
+        return oss.str();
+    }
+};
+
+}  // namespace fzx

include/fzx/common/.gitkeep

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+/*********************************************************************************
+ * FZX-library                                                                   *
+ * Copyright (c) 2025 Fahd Seddik                                                *
+ *********************************************************************************
+ *                                                                               *
+ * This software is provided 'as-is', without any express or implied warranty.   *
+ * In no event will the authors be held liable for any damages arising from the  *
+ * use of this software.                                                         *
+ *                                                                               *
+ * Permission is granted to anyone to use this software for any purpose,         *
+ * including commercial applications, and to alter it and redistribute it        *
+ * freely, subject to the following restrictions:                                *
+ *                                                                               *
+ * 1. The origin of this software must not be misrepresented; you must not claim *
+ *    that you wrote the original software. If you use this software in a        *
+ *    product, an acknowledgment in the product documentation would be           *
+ *    appreciated but is not required.                                           *
+ *                                                                               *
+ * 2. Altered source versions must be plainly marked as such, and must not be    *
+ *    misrepresented as being the original software.                             *
+ *                                                                               *
+ * 3. This notice may not be removed or altered from any source distribution.    *
+ *                                                                               *
+ ********************************************************************************/
+#pragma once
+
+#include <fzx/common/Set.h>
+#include <fzx/engine/SimWorld.h>
+
+namespace fzx {
+
+class SimManager {
+   private:
+    Set<SimWorld*> _worlds;
+};
+}  // namespace fzx

include/fzx/engine/.gitkeep

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+/*********************************************************************************
+ * FZX-library                                                                   *
+ * Copyright (c) 2025 Fahd Seddik                                                *
+ *********************************************************************************
+ *                                                                               *
+ * This software is provided 'as-is', without any express or implied warranty.   *
+ * In no event will the authors be held liable for any damages arising from the  *
+ * use of this software.                                                         *
+ *                                                                               *
+ * Permission is granted to anyone to use this software for any purpose,         *
+ * including commercial applications, and to alter it and redistribute it        *
+ * freely, subject to the following restrictions:                                *
+ *                                                                               *
+ * 1. The origin of this software must not be misrepresented; you must not claim *
+ *    that you wrote the original software. If you use this software in a        *
+ *    product, an acknowledgment in the product documentation would be           *
+ *    appreciated but is not required.                                           *
+ *                                                                               *
+ * 2. Altered source versions must be plainly marked as such, and must not be    *
+ *    misrepresented as being the original software.                             *
+ *                                                                               *
+ * 3. This notice may not be removed or altered from any source distribution.    *
+ *                                                                               *
+ ********************************************************************************/
+#pragma once
+
+#include <fzx/collision/RayHitResult.h>
+#include <fzx/ecs/Body.h>
+#include <fzx/ecs/EntityPool.h>
+#include <fzx/engine/SimConfig.h>
+
+#include <string>
+
+namespace fzx {
+
+// Callback types
+typedef bool (*OverlapCallback)(const Body* bodyA, const Body* bodyB, void* userData);
+typedef bool (*CollisionCallback)(const Body* bodyA, const Body* bodyB, void* userData);
+
+class SimWorld {
+   public:
+    // Constructors
+    SimWorld();
+    explicit SimWorld(const SimConfig& config, const std::string& name = "SimWorld");
+
+    // Getters
+    const std::string& getName() const;
+    const SimConfig& getConfig() const;
+    EntityPool* getEntityPool();
+    real getTimeBeforeSleep() const;
+
+    // Setters
+    void setName(const std::string& name);
+    void setConfig(const SimConfig& config);
+    void setTimeBeforeSleep(real time);
+
+    // Entity/Body management
+    void disableBody(Body* body);
+
+    // Ray casting
+    bool rayCast(const Ray& ray, RayCastCallback callback, void* userData = nullptr) const;
+
+    // Overlap tests
+    bool testOverlap(const Body* bodyA, const Body* bodyB) const;
+    bool testOverlap(const Body* body, OverlapCallback callback, void* userData = nullptr) const;
+
+    // Collision tests
+    bool testCollision(const Body* bodyA, const Body* bodyB, CollisionCallback callback, void* userData = nullptr) const;
+    bool testCollision(const Body* body, CollisionCallback callback, void* userData = nullptr) const;
+    bool testCollision(CollisionCallback callback, void* userData = nullptr) const;
+
+    // Simulation update
+    void update(real duration);
+
+   private:
+    std::string _name;
+    SimConfig _config;
+    EntityPool* _entityPool;
+    real _timeBeforeSleep;
+};
+
+}  // namespace fzx