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#include "recastmeshobject.hpp"
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#include <components/debug/debuglog.hpp>
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#include <BulletCollision/CollisionShapes/btCompoundShape.h>
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#include <cassert>
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namespace DetourNavigator
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{
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RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform,
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const AreaType areaType)
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: mShape(shape)
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, mTransform(transform)
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, mAreaType(areaType)
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, mLocalScaling(shape.getLocalScaling())
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, mChildren(makeChildrenObjects(shape, mAreaType))
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{
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}
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bool RecastMeshObject::update(const btTransform& transform, const AreaType areaType)
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{
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bool result = false;
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if (!(mTransform == transform))
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{
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mTransform = transform;
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result = true;
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}
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if (mAreaType != areaType)
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{
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mAreaType = areaType;
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result = true;
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}
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if (!(mLocalScaling == mShape.get().getLocalScaling()))
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{
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mLocalScaling = mShape.get().getLocalScaling();
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result = true;
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}
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if (mShape.get().isCompound())
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result = updateCompoundObject(static_cast<const btCompoundShape&>(mShape.get()), mAreaType, mChildren)
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|| result;
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return result;
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}
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bool RecastMeshObject::updateCompoundObject(const btCompoundShape& shape,
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const AreaType areaType, std::vector<RecastMeshObject>& children)
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{
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assert(static_cast<std::size_t>(shape.getNumChildShapes()) == children.size());
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bool result = false;
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for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
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{
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assert(shape.getChildShape(i) == std::addressof(children[static_cast<std::size_t>(i)].mShape.get()));
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result = children[static_cast<std::size_t>(i)].update(shape.getChildTransform(i), areaType) || result;
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}
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return result;
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}
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std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType)
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{
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if (shape.isCompound())
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return makeChildrenObjects(static_cast<const btCompoundShape&>(shape), areaType);
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else
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return std::vector<RecastMeshObject>();
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}
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std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType)
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{
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std::vector<RecastMeshObject> result;
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for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
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result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), areaType);
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return result;
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}
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}
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