BulletWorldManager.cpp

 
/* SPDX-License-Identifier: CC0-1.0 */
 
#include "BulletWorldManager.h"
 
#include <iostream>
#include <iomanip>
#include <numeric>
#include <sstream>
 
#include <QMutexLocker>
 
#include "FileName.h"
#include "IException.h"
#include "IString.h"
 
using namespace std;
 
namespace Isis {

  BulletWorldManager::BulletWorldManager() {
    m_name = "Body-Fixed-Coordinate-System";
    initWorld();  
  }
 

  BulletWorldManager::BulletWorldManager(const QString &name) {
    m_name = name;
    initWorld();  
  }
 

  BulletWorldManager::~BulletWorldManager() { }
 

  QString BulletWorldManager::name() const {
    return ( m_name );
  }
 

  int BulletWorldManager::size() const{
    return ( m_world->getCollisionObjectArray().size() );
  }
 

  BulletTargetShape *BulletWorldManager::getTarget(const int &index) const {
    btAssert( index < size() );
    btAssert( index >= 0 );
    return ( (BulletTargetShape *) (m_world->getCollisionObjectArray().at(index)->getUserPointer()) );
  }
 

  BulletTargetShape *BulletWorldManager::getTarget(const QString &name) const { 
 
    QString v_name = name.toLower();
    const btCollisionObjectArray &btobjects = m_world->getCollisionObjectArray();
    for ( int i = 0 ; i < btobjects.size() ; i++ ) {
      BulletTargetShape *target = (BulletTargetShape *)  (btobjects[i]->getUserPointer());
      if ( target->name().toLower() == v_name ) {
        return (target);
      }
    }
   
    // Not found...
    return (0);
  }
 

  void BulletWorldManager::addTarget(BulletTargetShape *target) {
 
    // May need to retain the target in a list for world destruction!!??
    // CollisionBody is expected to contain a UserPointer that links back to 
    // target (BulletTargetShape or some other type). 
    m_world->addCollisionObject( target->body() );
 
  }
 

  bool BulletWorldManager::raycast(const btVector3 &rayStart, const btVector3 &rayEnd, 
                                   btCollisionWorld::RayResultCallback &results ) const {
    m_world->rayTest(rayStart, rayEnd, results);
    return ( results.hasHit() );
  }
 

  const btCollisionWorld &BulletWorldManager::getWorld() const {
    return ( *m_world );
  }
 

  void BulletWorldManager::initWorld() {
    m_collision.reset( new btDefaultCollisionConfiguration() );
    m_dispatcher.reset(new btCollisionDispatcher(m_collision.data()) );
    m_broadphase.reset( new btDbvtBroadphase() );  // Could also be an AxisSweep
    m_world.reset( new btCollisionWorld( m_dispatcher.data(), m_broadphase.data(), m_collision.data() ) );
 
  }
 
}  // namespace Isis