Scene.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef _RL_SG_BULLET_SCENE_H_
#define _RL_SG_BULLET_SCENE_H_
 
#include <btBulletCollisionCommon.h>
 
#include "../DistanceScene.h"
#include "../RaycastScene.h"
#include "../SimpleScene.h"
 
namespace rl
{
    namespace sg
    {
        namespace bullet
        {
            class Scene : public ::rl::sg::DistanceScene, public ::rl::sg::RaycastScene, public ::rl::sg::SimpleScene
            {
            public:
                Scene();
                
                virtual ~Scene();
                
                bool areColliding(::rl::sg::Body* first, ::rl::sg::Body* second);
                
                bool areColliding(::rl::sg::Shape* first, ::rl::sg::Shape* second);
                
                ::rl::sg::Model* create();
                
                using ::rl::sg::DistanceScene::distance;
                
#if 0
                ::rl::math::Real distance(::rl::sg::Body* first, ::rl::sg::Body* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Body* body, const ::rl::math::Vector3& point, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
#endif
                
                ::rl::math::Real distance(::rl::sg::Shape* first, ::rl::sg::Shape* second, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                ::rl::math::Real distance(::rl::sg::Shape* shape, const ::rl::math::Vector3& point, ::rl::math::Vector3& point1, ::rl::math::Vector3& point2);
                
                bool isColliding();
                
                ::rl::sg::Shape* raycast(const ::rl::math::Vector3& source, const ::rl::math::Vector3& target, ::rl::math::Real& distance);
                
                bool raycast(::rl::sg::Shape* shape, const ::rl::math::Vector3& source, const ::rl::math::Vector3& target, ::rl::math::Real& distance);
                
                void setMargin(const ::rl::math::Real& margin);
                
                btDbvtBroadphase broadphase;
                
                btDefaultCollisionConfiguration configuration;
                
                btCollisionDispatcher dispatcher;
                
                btCollisionWorld world;
                
            protected:
                
            private:
                struct ContactResultCallback : public btCollisionWorld::ContactResultCallback 
                {
                    ContactResultCallback();
                    
#if (BT_BULLET_VERSION < 281)
                    btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0, int partId0, int index0, const btCollisionObject* colObj1, int partId1, int index1);
#else
                    btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0, int partId0, int index0, const btCollisionObjectWrapper* colObj1, int partId1, int index1);
#endif
                    
                    bool collision;
                    
                    btScalar distance;
                    
                    btVector3 positionWorldOnA;
                    
                    btVector3 positionWorldOnB;
                };
                
                struct RayResultCallback : public btCollisionWorld::RayResultCallback
                {
                    RayResultCallback();
                    
                    btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace);
                    
                    const btCollisionShape* collisionShape;
                    
                    btVector3 hitPointWorld;
                };
            };
        }
    }
}
 
#endif // _RL_SG_BULLET_SCENE_H_