bvhTriangleMeshShape.h

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/*******************************************************************************
** Copyright (c) 2022 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include <vantageTerrainImplementation/vantageTerrainImplementationDefines.h>
#include <vantageTerrainImplementation/osgToBullet.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h>
#include <BulletCollision/CollisionShapes/btTriangleMesh.h>

#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>

#include <tbb/spin_mutex.h>

class DtSurface;
class btVector3;

class DT_DLL_vantageTerrainImplementation DtTriangleMeshWithSoil : public btTriangleMesh
{
public:
   DtTriangleMeshWithSoil(bool use32bitIndices = true, bool use4componentVertices = true);
   virtual ~DtTriangleMeshWithSoil();

   bool valid(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2) const;
   bool valid(const btVector3& vertex) const;
   bool valid(const btScalar& val) const;

   bool checkAddTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2,
      bool removeDuplicateVertices = false);

   void addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2,
      bool removeDuplicateVertices = false);

   void addTriangleWithSurface(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2,
      const DtSurface& surface, bool removeDuplicateVertices = false);

   DtSurface triangleSurface(unsigned int triangleIndex) const;

   const btVector3& max() const;
   const btVector3& min() const;

   bool isAabbValid() const;

   double maxDistance() const;

protected:
   void updateBounds(const btVector3& val);

   void initializeSurfaceArray();

   void syncSurfaceArray();

   bool myUseSurfaceArray;
   btAlignedObjectArray<DtSurface> mySurfaceTypes;
   btVector3 myMin;
   btVector3 myMax;
   double myMaxPointDistanceSq;
};

class DT_DLL_vantageTerrainImplementation DtBvhTriangleMeshShape
   : public btBvhTriangleMeshShape
   , public boost::enable_shared_from_this<DtBvhTriangleMeshShape>
{
public:
   typedef boost::shared_ptr<DtBvhTriangleMeshShape> Ptr;

   DtBvhTriangleMeshShape(
      DtTriangleMeshWithSoil* mesh,
      bool useQuantization = true, bool buildBvhNow = false,
      bool filterTransparentPolygons = false);

   ~DtBvhTriangleMeshShape();

   bool buildBvh();

   int getNumTriangles() const;

private:
   typedef tbb::spin_mutex Mutex;

   mutable Mutex myMutex;
   DtTriangleMeshWithSoil* myMesh;

   int myTrianglesCount;
};

class DT_DLL_vantageTerrainImplementation DtBvhCollisionObject
   : public btCollisionObject
   , public DtCollisionObjectInterface
{
public:
   DtBvhCollisionObject();

   void setCollisionShape(btCollisionShape* shape);

   bool buildBvh();
   bool enabled() const;

   boost::shared_ptr<btCollisionShape> bulletCollisionShape() const;

   unsigned int numberOfTriangles() const;
   double radius() const;
   DtSurface triangleSurface(unsigned int triangleIndex) const;

   DynamicFeatures dynamicFeatures() const;

   const btTransform& worldTransform() const;

protected:
   DtBvhTriangleMeshShape::Ptr myShape;
};