////  PhysicalEntitySimulation.h//  libraries/physics/src////  Created by Andrew Meadows 2015.04.27//  Copyright 2015 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #ifndef hifi_PhysicalEntitySimulation_h#define hifi_PhysicalEntitySimulation_h #include <stdint.h>#include <map>#include <set> #include <btBulletDynamicsCommon.h>#include <BulletCollision/CollisionDispatch/btGhostObject.h> #include <EntityDynamicInterface.h>#include <EntityItem.h>#include <EntitySimulation.h>#include <workload/Space.h> #include "PhysicsEngine.h"#include "EntityMotionState.h" class PhysicalEntitySimulation;using PhysicalEntitySimulationPointer = std::shared_ptr<PhysicalEntitySimulation>;using SetOfEntityMotionStates = QSet<EntityMotionState*>; class VectorOfEntityMotionStates: public std::vector<EntityMotionState*> {public:    void remove(uint32_t index) {        assert(index < size());        if (index < size() - 1) {            (*this)[index] = back();        }        pop_back();    }    void removeFirst(EntityMotionState* state) {        for (uint32_t i = 0; i < size(); ++i) {            if ((*this)[i] == state) {                remove(i);                break;            }        }    }}; class PhysicalEntitySimulation : public EntitySimulation {    Q_OBJECTpublic:    PhysicalEntitySimulation();    ~PhysicalEntitySimulation();     void init(EntityTreePointer tree, PhysicsEnginePointer engine, EntityEditPacketSender* packetSender);    void setWorkloadSpace(const workload::SpacePointer space) { _space = space; }     void addDynamic(EntityDynamicPointer dynamic) override;    void removeDynamic(const QUuid dynamicID) override;    void applyDynamicChanges() override;     void takeDeadAvatarEntities(SetOfEntities& deadEntities);     virtual void clearEntities() override;    void queueEraseDomainEntity(const QUuid& id) const override; signals:    void entityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const Collision& collision); protected: // only called by EntitySimulation    // overrides for EntitySimulation    void addEntityToInternalLists(EntityItemPointer entity) override;    void removeEntityFromInternalLists(EntityItemPointer entity) override;    void processChangedEntity(const EntityItemPointer& entity) override;    void processDeadEntities() override;     void removeOwnershipData(EntityMotionState* motionState);    void clearOwnershipData(); public:    virtual void prepareEntityForDelete(EntityItemPointer entity) override;    void removeDeadEntities();     void buildPhysicsTransaction(PhysicsEngine::Transaction& transaction);    void handleProcessedPhysicsTransaction(PhysicsEngine::Transaction& transaction);     void handleDeactivatedMotionStates(const VectorOfMotionStates& motionStates);    void handleChangedMotionStates(const VectorOfMotionStates& motionStates);    void handleCollisionEvents(const CollisionEvents& collisionEvents);     EntityEditPacketSender* getPacketSender() { return _entityPacketSender; }     void addOwnershipBid(EntityMotionState* motionState);    void addOwnership(EntityMotionState* motionState);    void sendOwnershipBids(uint32_t numSubsteps);    void sendOwnedUpdates(uint32_t numSubsteps); private:    void buildMotionStatesForEntitiesThatNeedThem();     class ShapeRequest {    public:        ShapeRequest() { }        ShapeRequest(const EntityItemPointer& e) : entity(e) { }        bool operator<(const ShapeRequest& other) const { return entity.get() < other.entity.get(); }        bool operator==(const ShapeRequest& other) const { return entity.get() == other.entity.get(); }        EntityItemPointer entity { nullptr };        mutable uint64_t shapeHash { 0 };    };    SetOfEntities _entitiesToAddToPhysics; // we could also call this: _entitiesThatNeedMotionStates    SetOfEntities _entitiesToRemoveFromPhysics;    SetOfEntityMotionStates _incomingChanges; // EntityMotionStates changed by external events    SetOfMotionStates _physicalObjects; // MotionStates of entities in PhysicsEngine     using ShapeRequests = std::set<ShapeRequest>;    ShapeRequests _shapeRequests;     PhysicsEnginePointer _physicsEngine = nullptr;    EntityEditPacketSender* _entityPacketSender = nullptr;     VectorOfEntityMotionStates _owned;    VectorOfEntityMotionStates _bids;    SetOfEntities _deadAvatarEntities; // to remove from Avatar's lists    std::vector<EntityItemPointer> _entitiesToDeleteLater;     QList<EntityDynamicPointer> _dynamicsToAdd;    QSet<QUuid> _dynamicsToRemove;    QRecursiveMutex _dynamicsMutex;     workload::SpacePointer _space;    uint64_t _nextBidExpiry;    uint32_t _lastStepSendPackets { 0 };    uint32_t _lastWorkDeliveryCount { 0 };};  typedef std::shared_ptr<PhysicalEntitySimulation> PhysicalEntitySimulationPointer; #endif // hifi_PhysicalEntitySimulation_h