bvhTriangleMeshShape.h

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/*******************************************************************************
** Copyright (c) 2023 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include <vantageTerrainImplementation/vantageTerrainImplementationDefines.h>
#include <vantageTerrainImplementation/bulletUtil.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h>
#include <BulletCollision/CollisionShapes/btTriangleMesh.h>
#include <terrainInterface/terrainProcessPolygonsBox.h>

#include <osg/Vec3>
#include <atomic>
#include <tbb/spin_mutex.h>

class DtSurface;
class btVector3;

using DtCollisionShapeId = DtTerrainGeometryId;

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

   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 std::enable_shared_from_this<DtBvhTriangleMeshShape>
{
public:
   using Ptr = std::shared_ptr<DtBvhTriangleMeshShape>;   

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

   virtual ~DtBvhTriangleMeshShape() override;

   bool buildBvh();
   bool isBvhBuilt() const;

   int getNumTriangles() const;

   DtCollisionShapeId id() const;
   void setId(DtCollisionShapeId id);

private:
   using Mutex = tbb::spin_mutex;

   mutable Mutex myMutex;
   DtTriangleMeshWithSoil* myMesh;

   int myTrianglesCount;
   std::atomic<bool> myIsBvhBuilt;
   DtCollisionShapeId myId = 0;
};

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

   virtual void setCollisionShape(btCollisionShape* shape) override;

   virtual bool buildBvh() override;
   virtual bool enabled() const override;
   virtual bool isBvhBuilt() const override;

   virtual std::shared_ptr<btCollisionShape> bulletCollisionShape() const override;

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

   virtual DynamicFeatures dynamicFeatures() const override;

   virtual const btTransform& worldTransform() const override;

protected:
   DtBvhTriangleMeshShape::Ptr myShape;
};

struct ProcessTriangle
{
   ProcessTriangle();
   void operator() (const osg::Vec3& vec1, const osg::Vec3& vec2, const osg::Vec3& vec3, bool) const;

   DtTriangleMeshWithSoil* myTriMesh;
};

struct ProcessTriangleWithSurface : public ProcessTriangle
{
   void operator() (const osg::Vec3& vec1, const osg::Vec3& vec2, const osg::Vec3& vec3) const;

   DtSurface mySurface;
   osg::Vec3d myScale;
   bool myIsScale;
};