bulletUtil.h

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/*******************************************************************************
** Copyright (c) 2010 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"

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


btVector3 DtPoint2btVector3(const DtPoint& p);
btVector3 DtVector2btVector3(const DtVector& v);
DtPoint btVector32DtPoint(const btVector3& v);
DtVector btVector32DtVector(const btVector3& v);
bool btVectorIsZero(const btVector3& v);

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

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

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

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

struct DtAllHitsRayResultCallback : public btCollisionWorld::RayResultCallback
{
   DtAllHitsRayResultCallback(
      const btVector3& rayFromWorld, const btVector3& rayToWorld, short int filterMask,
      DtVrfChordIntersectRecordList& resultList);
      
   virtual  btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace);
   virtual bool needsCollision(btBroadphaseProxy* proxy0) const;
   
   btVector3 m_rayFromWorld;
   btVector3 m_rayToWorld;
   DtVrfChordIntersectRecordList& myResultList;
};

struct DtClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
{
   DtClosestRayResultCallback(
   const btVector3&  rayFromWorld,const btVector3& rayToWorld, short int filterMask);

   virtual bool needsCollision(btBroadphaseProxy* proxy0) const;

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

   unsigned myHitCounter;
   DtSurface mySurface;
};

DtSurface getSurfaceType(btCollisionWorld::LocalRayResult& rayResult);