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collisionWorld.h
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1 /*******************************************************************************
2 ** Copyright (c) 2010 MAK Technologies, Inc.
3 ** All rights reserved.
4 *******************************************************************************/
5 
8 
10 
11 #pragma once
12 
13 #include <vantageTerrainImplementation/osgToBullet.h>
14 #include <vantageTerrainImplementation/vantageTerrainConsoleCommands.h>
15 #include <vantageTerrainImplementation/vantageTerrainImplementationDefines.h>
16 #include <vantageTerrainImplementation/sharedMemoryBulletDebugDrawer.h>
17 #include <vantageTerrainImplementation/vantageTerrainImplementation.h>
18 #include <list>
19 #include <vlutil/vlSmartPointers.h>
20 #include <geometry/intersectionRecord.h>
21 #include <tbb/spin_rw_mutex.h>
22 #include <boost/unordered_set.hpp>
23 #include <features/proj.h>
24 
25 #include <BulletCollision/CollisionShapes/btTriangleCallback.h>
26 
27 class DtChord;
28 class DtVrfChordIntersectionRecord;
29 class DtVrfChordIntersectRecordList;
30 class DtSphere;
31 
32 class DtBulletTriangleCallback;
33 
38 class DT_DLL_vantageTerrainImplementation DtCollisionWorld
39 {
40 private:
42 
43  DtCollisionWorld(const DtCollisionWorld&);
44  DtCollisionWorld& operator=(const DtCollisionWorld&);
46 public:
47  DtCollisionWorld();
48  virtual ~DtCollisionWorld();
49 
50  virtual void initialize();
51 
52  virtual unsigned collisionObjectCount();
53 
54  virtual void addCollisionObjectToWorld(
55  const boost::shared_ptr<btCollisionObject>& object,
56  short int objectGroup = btBroadphaseProxy::DefaultFilter);
57 
58  virtual void addCollisionObjectsToWorld(
59  const DtCollisionObjectList& object,
60  short int objectGroup = btBroadphaseProxy::DefaultFilter);
61 
62  virtual unsigned int removeCollisionObjectFromWorld(
63  const boost::shared_ptr<btCollisionObject>& collisionObject);
64 
65  virtual unsigned int removeCollisionObjectsFromWorld(const DtCollisionObjectList&);
66 
67  virtual bool chordIntersect(const DtChord& chord,
68  DtVrfChordIntersectionRecord& record,
69  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
70  short int filterMask = btBroadphaseProxy::AllFilter) const;
71 
72  virtual bool allIntersectsAlongChord(const DtChord& chord,
73  DtVrfChordIntersectRecordList& intList,
74  DtIntersectionRecord::DtIntersectionType irtFlag = DtIntersectionRecord::INT_ALL_DATA,
75  short int filterMask = btBroadphaseProxy::AllFilter) const;
76 
77  virtual void setCoordinateSystem(const Coordinate_System* cs);
78  virtual const Coordinate_System* coordinateSystem();
79 
80  virtual void drawDebugInfo();
81  virtual void setDebugDraw(bool polygons, bool aabb);
82 
83  virtual void processTrianglesInArea(DtBulletTriangleCallback&);
84 
85 protected:
86  virtual btCollisionWorld* bulletCollisionWorld();
87 
88  //Bullet intersection members.
89 
90  typedef boost::unordered_set< boost::shared_ptr<btCollisionObject> > CollisionObjectSet;
91  CollisionObjectSet myCollisionObjects;
92 
93  const Coordinate_System* myCoordinateSystem;
94  btCollisionWorld* myCollisionWorld;
95 
96  std::auto_ptr<DtSharedMemoryBulletDebugDrawer> myDebugDrawer;
97  std::auto_ptr<DtSharedMemoryBulletDebugDrawer> myAabbDrawer;
98  bool myChangedSinceLastDraw;
99 
100  btCollisionConfiguration* myCollisionConfiguration;
101  btBroadphaseInterface* myBroadphaseInterface;
102  btCollisionDispatcher* myCollisionDispatcher;
103 
104  typedef tbb::spin_rw_mutex Mutex;
105  mutable Mutex myMutex;
106 };
107 
108 class DT_DLL_vantageTerrainImplementation DtBulletTriangleCallback : public btTriangleCallback
109 {
110 public:
111  DtBulletTriangleCallback(const DtTerrainProcessPolygonsBox& box);
112  virtual ~DtBulletTriangleCallback();
113  virtual const DtTerrainProcessPolygonsBox& box() const;
114  virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
115  virtual void setTransform(btTransform* transform);
116  virtual void setMesh(const DtTriangleMeshWithSoil* mesh);
117  virtual void setCollisionObject(const DtCollisionObjectInterface* obj);
118  void setVrfTriangleCallback( DtTriangleCallbackFcn func, void* usr );
119 protected:
120  btTransform* myTransform;
121  const DtTerrainProcessPolygonsBox* myBox;
122  const DtCollisionObjectInterface* myCollisionObject;
123  const DtTriangleMeshWithSoil* myMesh;
124  DtTriangleCallbackFcn myVrfTriangleCallbackFunc;
125  void* myVrfUsr;
126 };
127 
Document ID: Generated on Thu Mar 23 18:54:12 EDT 2017 from SVN revision 174804
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