bulletcollisioninterface.h

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/*
* Copyright 2016 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/

#pragma once

#include "gwnavruntime/collision/icollisioninterface.h"
#include "gwnavruntime/kernel/SF_Hash.h"

namespace Kaim
{
class IndexedMesh;
class CollisionData;
class World;
class HeightField;
}

class btCollisionWorld;
class btDispatcher;
class btBroadphaseInterface;
class btCollisionConfiguration;
class CollisionInterfaceDebugDraw;
class btTriangleIndexVertexArray;
class btBvhTriangleMeshShape;
class btCollisionObject;

namespace KyGlue
{

class BulletCollisionInterface : public Kaim::ICollisionInterface
{
public:
    explicit BulletCollisionInterface(Kaim::World* world = nullptr);

    virtual ~BulletCollisionInterface();

    // The data within collisionData will be added to the world.
    virtual KyResult AddCollisionData(Kaim::Ptr<Kaim::CollisionData> collisionData);

    // The data within collisionData will be removed from the world.
    virtual KyResult RemoveCollisionData(Kaim::Ptr<Kaim::CollisionData> collisionData);

    // Perform any processing that may be necessary.
    virtual KyResult Update();

    // Perform RayCast from a to b, return true if no hit.
    virtual Kaim::CollisionRayCastResult RayCast(const Kaim::Vec3f& a, const Kaim::Vec3f& b);

    // Functions that are not derived.
    // The data referenced by inputMesh will be stored in collisionData in a format understood by the CollisionInterface.
    KyResult ConvertIndexedMeshToCollisionData(const Kaim::IndexedMesh& inputMesh, Kaim::Ptr<Kaim::CollisionData> collisionData);

    // The data in the CollisionWorld will be transformed into a heightfield with the given tilesize.
    KyResult SaveToHeightField(Kaim::HeightField& heightField, KyFloat32 tileSize);

private:
    struct StaticMesh
    {
        btTriangleIndexVertexArray* m_indexVertexArray;
        btBvhTriangleMeshShape*     m_bvhTriMeshShape;
        btCollisionObject*          m_collisionObject;
    };

    void Init();

    Kaim::World*                                  m_navigationWorld;
    Kaim::Hash<Kaim::CollisionData*, StaticMesh>  m_staticMeshes;
    btCollisionWorld*                             m_world;
    btDispatcher*                                 m_dispatcher;
    btBroadphaseInterface*                        m_broadphase;
    btCollisionConfiguration*                     m_config;
    CollisionInterfaceDebugDraw*                  m_debugDraw;
};

}