bulletUtil.h

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/*******************************************************************************
** Copyright (c) 2020 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/



#pragma once

#include <vantageTerrainImplementation/vantageTerrainImplementationDefines.h>
#include <btBulletCollisionCommon.h>
#include <geometry/point.h>
#include <vrfutil/vrfChordIntersectionRecord.h>
#include <matrix/vlVector.h>
#include <list>
#include <geometry/surface.h>
#include <terrainInterface/terrainPagingGeometry.h>
#include "tbb/spin_rw_mutex.h"
#include <boost/optional.hpp>

class DtChord;
class DtSphere;
class DtLocalVertexList;
class DtVrfChordIntersectRecordList;
class DtCollisionObjectInterface;
class Coordinate_System;


inline btVector3 DtPoint2btVector3(const DtPoint& p)    { return btVector3(p.x(), p.y(), p.z()); }
inline btVector3 DtVector2btVector3(const DtVector& v)  { return btVector3(v.x(), v.y(), v.z()); }
inline DtPoint btVector32DtPoint(const btVector3& v)    { return DtPoint(v.x(), v.y(), v.z()); }
inline DtVector btVector32DtVector(const btVector3& v)  { return DtVector(v.x(), v.y(), v.z()); }
bool DT_DLL_vantageTerrainImplementation btVectorIsZero(const btVector3& v);

bool DT_DLL_vantageTerrainImplementation chordSphereVolumetricIntersect(
   const DtChord& chord,
   const DtSphere& sphere);

bool DT_DLL_vantageTerrainImplementation sphereSphereVolumetricIntersect(
   const DtSphere& sphere1,
   const DtSphere& sphere2);

bool DT_DLL_vantageTerrainImplementation shapeSphereVolumetricIntersect(
   const Coordinate_System&,
   const DtLocalVertexList& shape,
   const DtSphere& sphere);

bool DT_DLL_vantageTerrainImplementation geometrySphereVolumetricIntersect(
   const Coordinate_System&,
   DtTerrainPagingGeometryPtr geometry,
   const DtSphere& sphere);

struct DT_DLL_vantageTerrainImplementation DtBulletRayResultCallback
   : public btCollisionWorld::RayResultCallback
{
   struct RayResultRecord
   {
      explicit RayResultRecord(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace);

      DtVrfChordIntersectionRecord getRecord(
         DtIntersectionRecord::DtIntersectionType irtFlag,
         const btVector3& rayFromWorld, const btVector3& rayToWorld) const;

      boost::shared_ptr<const DtCollisionObjectInterface> object;
      btScalar intersectionTime;
      btVector3 normal;
      boost::optional<btTransform> normalTransform;
      int triangleIndex;
   };

   explicit DtBulletRayResultCallback(
      DtIntersectionRecord::DtIntersectionType irtFlag, short int filterMask);

   virtual bool needsCollision(btBroadphaseProxy* proxy0) const;

protected:
   const DtIntersectionRecord::DtIntersectionType myIrtFlag;
};

struct DT_DLL_vantageTerrainImplementation DtAllHitsRayResultCallback
   : public DtBulletRayResultCallback
{
   DtAllHitsRayResultCallback(
      DtIntersectionRecord::DtIntersectionType irtFlag, short int filterMask);
      
   virtual  btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace);

   std::vector<RayResultRecord> myRecords;
};

struct DT_DLL_vantageTerrainImplementation DtClosestRayResultCallback
   : public DtBulletRayResultCallback
{
   DtClosestRayResultCallback(
      DtIntersectionRecord::DtIntersectionType irtFlag, short int filterMask);

   virtual btScalar  addSingleResult(
      btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace);

   boost::optional<RayResultRecord> myResult;
};

struct DT_DLL_vantageTerrainImplementation DtIntersectionExistsCallback
   : public DtBulletRayResultCallback
{
   explicit DtIntersectionExistsCallback(short int filterMask);

   virtual bool needsCollision(btBroadphaseProxy* proxy0) const;

   virtual btScalar  addSingleResult(
      btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace);
};

bool DT_DLL_vantageTerrainImplementation DtIntersectRaySphere2(const DtPoint& rayStartPoint,
   const DtVector& rayDirectionNonNormalized,
   const DtSphere& sphere,
   double& t);