Bullet Collision Detection & Physics Library
btHeightfieldTerrainShape.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
17 #define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
18 
19 #include "btConcaveShape.h"
21 
23 
74 {
75 public:
76  struct Range
77  {
80  };
81 
82 protected:
86 
95  union {
96  const unsigned char* m_heightfieldDataUnsignedChar;
97  const short* m_heightfieldDataShort;
100  };
101 
107  int m_upAxis;
108 
110 
111  // Accelerator
116 
117 
119 
121 
122  virtual btScalar getRawHeightFieldValue(int x, int y) const;
123  void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
124 
126 
130  void initialize(int heightStickWidth, int heightStickLength,
131  const void* heightfieldData, btScalar heightScale,
132  btScalar minHeight, btScalar maxHeight, int upAxis,
133  PHY_ScalarType heightDataType, bool flipQuadEdges);
134 
135 public:
137 
139 
144  btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
145  const void* heightfieldData, btScalar heightScale,
146  btScalar minHeight, btScalar maxHeight,
147  int upAxis, PHY_ScalarType heightDataType,
148  bool flipQuadEdges);
149 
151 
157  btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges);
158 
159  virtual ~btHeightfieldTerrainShape();
160 
161  void setUseDiamondSubdivision(bool useDiamondSubdivision = true) { m_useDiamondSubdivision = useDiamondSubdivision; }
162 
164  void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }
165 
166  void setFlipTriangleWinding(bool flipTriangleWinding)
167  {
168  m_flipTriangleWinding = flipTriangleWinding;
169  }
170  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
171 
172  virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
173 
174  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
175 
176  virtual void setLocalScaling(const btVector3& scaling);
177 
178  virtual const btVector3& getLocalScaling() const;
179 
180  void getVertex(int x, int y, btVector3& vertex) const;
181 
182  void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget) const;
183 
184  void buildAccelerator(int chunkSize = 16);
185  void clearAccelerator();
186 
187  int getUpAxis() const
188  {
189  return m_upAxis;
190  }
191  //debugging
192  virtual const char* getName() const { return "HEIGHTFIELD"; }
193 
194 
196  {
197  m_userValue3 = value;
198  }
200  {
201  return m_userValue3;
202  }
203  const struct btTriangleInfoMap* getTriangleInfoMap() const
204  {
205  return m_triangleInfoMap;
206  }
208  {
209  return m_triangleInfoMap;
210  }
212  {
213  m_triangleInfoMap = map;
214  }
215  const unsigned char* getHeightfieldRawData() const
216  {
217  return m_heightfieldDataUnsignedChar;
218  }
219 };
220 
221 #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
PHY_ScalarType
PHY_ScalarType enumerates possible scalar types.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
btHeightfieldTerrainShape simulates a 2D heightfield terrain
void setFlipTriangleWinding(bool flipTriangleWinding)
virtual const char * getName() const
void setUseZigzagSubdivision(bool useZigzagSubdivision=true)
could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?...
void setUseDiamondSubdivision(bool useDiamondSubdivision=true)
const struct btTriangleInfoMap * getTriangleInfoMap() const
const unsigned char * getHeightfieldRawData() const
const unsigned char * m_heightfieldDataUnsignedChar
btAlignedObjectArray< Range > m_vboundsGrid
void setTriangleInfoMap(btTriangleInfoMap *map)
struct btTriangleInfoMap * getTriangleInfoMap()
struct btTriangleInfoMap * m_triangleInfoMap
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...