BlSimulator.h

#pragma once

#include "BlMaterialType.h"
#include "BlAnimatCollisionDispatcher.h"

namespace BulletAnimatSim
{

        class BULLET_PORT BlSimulator : public OsgSimulator
        {
        protected:
        btDefaultCollisionConfiguration *m_lpCollisionConfiguration;
        BlAnimatCollisionDispatcher *m_lpDispatcher;
        btConstraintSolver *m_lpSolver;
        btBroadphaseInterface *m_lpBroadPhase;
        btDiscreteDynamicsWorld *m_lpDynamicsWorld;
        osgbCollision::GLDebugDrawer m_dbgDraw;

        std::list<FluidPlane *> m_aryFluidPlanes;

        bool m_bDrawDebug;

                double m_dblTotalVortexStepTime;
                long m_lStepVortexTimeCount;

                int m_iSubstepCallbackCount;

                virtual AnimatSim::Recording::SimulationRecorder *CreateSimulationRecorder();

                //helper functions
                void InitializeBullet(int argc, const char **argv);
                void InitializeBulletViewer(int argc, const char **argv);
                void SetSimulationStabilityParams();
                
                virtual void StepSimulation();
                virtual void SimulateEnd();
        
        public:
                BlSimulator();
                virtual ~BlSimulator();

        btDefaultCollisionConfiguration *CollisionConfig() {return m_lpCollisionConfiguration;};
        btCollisionDispatcher *Dispatcher() {return m_lpDispatcher;};
        btConstraintSolver *Solver() {return m_lpSolver;};
        btBroadphaseInterface *BroadPhase() {return m_lpBroadPhase;}
        btDiscreteDynamicsWorld *DynamicsWorld() {return m_lpDynamicsWorld;};

#pragma region CreateMethods

                virtual void GenerateCollisionMeshFile(std::string strOriginalMeshFile, std::string strCollisionMeshFile, float fltScaleX, float fltScaleY, float fltScaleZ);
                virtual void ConvertV1MeshFile(std::string strOriginalMeshFile, std::string strNewMeshFile, std::string strTexture);

#pragma endregion

#pragma region MutatorOverrides

                virtual void StabilityScale(float fltVal);
                virtual void LinearCompliance(float fltVal, bool bUseScaling = true);
                virtual void AngularCompliance(float fltVal, bool bUseScaling = true);
                virtual void LinearDamping(float fltVal, bool bUseScaling = true);
                virtual void AngularDamping(float fltVal, bool bUseScaling = true);
                virtual void LinearKineticLoss(float fltVal, bool bUseScaling = true);
                virtual void AngularKineticLoss(float fltVal, bool bUseScaling = true);

                virtual void Gravity(float fltVal, bool bUseScaling = true);

#pragma endregion
                
#pragma region HelperMethods

                virtual void GetPositionAndRotationFromD3DMatrix(float (&aryTransform)[4][4], CStdFPoint &vPos, CStdFPoint &vRot);
        
#pragma endregion

#pragma region FluidMethods

        virtual void AddFluidPlane(FluidPlane *lpPlane);
        virtual void RemoveFluidPlane(FluidPlane *lpPlane);
        virtual bool HasFluidPlane(FluidPlane *lpPlane);
        virtual void SortFluidPlanes();
        virtual FluidPlane *FindFluidPlaneForDepth(float fltDepth);

#pragma endregion

                void BulletStepFinished(btScalar timeStep);

                virtual void Reset(); //Resets the entire application back to the default state 
                virtual void ResetSimulation(); //Resets the current simulation back to time 0.0
                virtual void Initialize(int argc, const char **argv);
        };

}                       //BulletAnimatSim