ParaPhysicsWorld.h

#pragma once

#include "btBulletDynamicsCommon.h"
#include "IParaPhysics.h"
#include "PhysicsDebugDraw.h"

#include <set>
#include <list>

#define CONVERT_BTVECTOR3(x) *((btVector3*)&(x))

#define CONVERT_PARAVECTOR3(x) *((PARAVECTOR3*)&(x))



namespace ParaEngine
{
    struct BulletPhysicsShape : public IParaPhysicsShape
    {
        BulletPhysicsShape();
        ~BulletPhysicsShape();

        virtual void* GetUserData() {return m_pUserData;};
        virtual void SetUserData(void* pData) {m_pUserData = pData;};

        virtual void* get() {return m_pShape;};
        virtual void Release();

        btCollisionShape* m_pShape;
        btTriangleIndexVertexArray* m_indexVertexArrays;
        int32* m_triangleIndices;
        btScalar* m_vertices;

        void* m_pUserData;
    };

    struct BulletPhysicsActor :IParaPhysicsActor
    {
        BulletPhysicsActor(btRigidBody* pActor);
        ~BulletPhysicsActor();
        virtual void* GetUserData() {return m_pUserData;};
        virtual void SetUserData(void* pData) {m_pUserData = pData;};
        virtual void* get() {return m_pActor;};
        virtual void Release();

        btRigidBody* m_pActor;
        void* m_pUserData;
    };

    using namespace std;

    class CParaPhysicsWorld :public IParaPhysics
    {
    public:
        typedef std::set<BulletPhysicsActor*> BulletPhysicsActor_Map_Type;
        typedef std::set<BulletPhysicsShape*> BulletPhysicsShape_Array_Type;
        CParaPhysicsWorld();
        virtual ~CParaPhysicsWorld();

        virtual bool InitPhysics();

        virtual bool StepSimulation(float fDeltaTime);

        virtual bool ExitPhysics();

        virtual void Release();

        virtual IParaPhysicsShape* CreateTriangleMeshShap(const ParaPhysicsTriangleMeshDesc& meshDesc);

        virtual void ReleaseShape(IParaPhysicsShape* pShape);

        virtual IParaPhysicsActor* CreateActor(const ParaPhysicsActorDesc& meshDesc);

        virtual void ReleaseActor(IParaPhysicsActor* pActor);
        

        virtual IParaPhysicsActor* RaycastClosestShape(const PARAVECTOR3& vOrigin, const PARAVECTOR3& vDirection, DWORD dwType, RayCastHitResult& hit, short dwGroupMask, float fSensorRange);

        virtual void    SetDebugDrawer(IParaDebugDraw*  debugDrawer);

        virtual IParaDebugDraw* GetDebugDrawer();

        virtual void DebugDrawObject(const PARAVECTOR3& vOrigin, const PARAMATRIX3x3& vRotation, const IParaPhysicsShape* pShape, const PARAVECTOR3& color);

        virtual void DebugDrawWorld();

        virtual void    SetDebugDrawMode(int debugMode);

        virtual int     GetDebugDrawMode();
    public:
        virtual btDynamicsWorld* GetScene()
        {
            return m_dynamicsWorld;
        }

    protected:
        btBroadphaseInterface*  m_broadphase;
        btCollisionDispatcher*  m_dispatcher;
        btConstraintSolver* m_solver;
        btDefaultCollisionConfiguration* m_collisionConfiguration;

        btDiscreteDynamicsWorld* m_dynamicsWorld;
        btCollisionWorld* m_collisionWorld;

        BulletPhysicsShape_Array_Type   m_collisionShapes;

        // keep all actors
        BulletPhysicsActor_Map_Type m_actors;

        CPhysicsDebugDraw m_physics_debug_draw;
        bool m_bInvertFaceWinding;
    };
}