Bullet Collision Detection & Physics Library: btHeightfieldTerrainShape.h Source File

Bullet Collision Detection & Physics Library

btHeightfieldTerrainShape.h
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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"
20 #include "LinearMath/btAlignedObjectArray.h"
21
23
72 ATTRIBUTE_ALIGNED16(class)
73 btHeightfieldTerrainShape : public btConcaveShape
74 {
75 public:
76 struct Range
77 {
78 btScalar min;
79 btScalar max;
80 };
81
82 protected:
83 btVector3 m_localAabbMin;
84 btVector3 m_localAabbMax;
85 btVector3 m_localOrigin;
86
88 int m_heightStickWidth;
89 int m_heightStickLength;
90 btScalar m_minHeight;
91 btScalar m_maxHeight;
92 btScalar m_width;
93 btScalar m_length;
94 btScalar m_heightScale;
95 union {
96 const unsigned char* m_heightfieldDataUnsignedChar;
97 const short* m_heightfieldDataShort;
98 const btScalar* m_heightfieldDataFloat;
99 const void* m_heightfieldDataUnknown;
100 };
101
102 PHY_ScalarType m_heightDataType;
103 bool m_flipQuadEdges;
104 bool m_useDiamondSubdivision;
105 bool m_useZigzagSubdivision;
106 bool m_flipTriangleWinding;
107 int m_upAxis;
108
109 btVector3 m_localScaling;
110
111 // Accelerator
112 btAlignedObjectArray<Range> m_vboundsGrid;
113 int m_vboundsGridWidth;
114 int m_vboundsGridLength;
115 int m_vboundsChunkSize;
116
117
118 btScalar m_userValue3;
119
120 struct btTriangleInfoMap* m_triangleInfoMap;
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:
136 BT_DECLARE_ALIGNED_ALLOCATOR();
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
195 void setUserValue3(btScalar value)
196 {
197 m_userValue3 = value;
198 }
199 btScalar getUserValue3() const
200 {
201 return m_userValue3;
202 }
203 const struct btTriangleInfoMap* getTriangleInfoMap() const
204 {
205 return m_triangleInfoMap;
206 }
207 struct btTriangleInfoMap* getTriangleInfoMap()
208 {
209 return m_triangleInfoMap;
210 }
211 void setTriangleInfoMap(btTriangleInfoMap* map)
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
btHeightfieldTerrainShape::m_localAabbMin
btVector3 m_localAabbMin
Definition: btHeightfieldTerrainShape.h:83
btHeightfieldTerrainShape::m_heightStickLength
int m_heightStickLength
Definition: btHeightfieldTerrainShape.h:89
btHeightfieldTerrainShape::setUseZigzagSubdivision
void setUseZigzagSubdivision(bool useZigzagSubdivision=true)
could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?...
Definition: btHeightfieldTerrainShape.h:164
btHeightfieldTerrainShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btHeightfieldTerrainShape::m_heightDataType
PHY_ScalarType m_heightDataType
Definition: btHeightfieldTerrainShape.h:102
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btHeightfieldTerrainShape::getTriangleInfoMap
struct btTriangleInfoMap * getTriangleInfoMap()
Definition: btHeightfieldTerrainShape.h:207
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:39
btHeightfieldTerrainShape::m_vboundsGridLength
int m_vboundsGridLength
Definition: btHeightfieldTerrainShape.h:114
btHeightfieldTerrainShape::setTriangleInfoMap
void setTriangleInfoMap(btTriangleInfoMap *map)
Definition: btHeightfieldTerrainShape.h:211
btConcaveShape.h
btHeightfieldTerrainShape::getUpAxis
int getUpAxis() const
Definition: btHeightfieldTerrainShape.h:187
btHeightfieldTerrainShape
btHeightfieldTerrainShape simulates a 2D heightfield terrain
Definition: btHeightfieldTerrainShape.h:74
btHeightfieldTerrainShape::Range
Definition: btHeightfieldTerrainShape.h:77
btHeightfieldTerrainShape::m_localAabbMax
btVector3 m_localAabbMax
Definition: btHeightfieldTerrainShape.h:84
btHeightfieldTerrainShape::m_useDiamondSubdivision
bool m_useDiamondSubdivision
Definition: btHeightfieldTerrainShape.h:104
btHeightfieldTerrainShape::m_width
btScalar m_width
Definition: btHeightfieldTerrainShape.h:92
btHeightfieldTerrainShape::Range::min
btScalar min
Definition: btHeightfieldTerrainShape.h:78
btHeightfieldTerrainShape::m_heightfieldDataFloat
const btScalar * m_heightfieldDataFloat
Definition: btHeightfieldTerrainShape.h:98
btHeightfieldTerrainShape::m_triangleInfoMap
struct btTriangleInfoMap * m_triangleInfoMap
Definition: btHeightfieldTerrainShape.h:120
btHeightfieldTerrainShape::setUseDiamondSubdivision
void setUseDiamondSubdivision(bool useDiamondSubdivision=true)
Definition: btHeightfieldTerrainShape.h:161
btHeightfieldTerrainShape::m_upAxis
int m_upAxis
Definition: btHeightfieldTerrainShape.h:107
btHeightfieldTerrainShape::m_heightfieldDataUnknown
const void * m_heightfieldDataUnknown
Definition: btHeightfieldTerrainShape.h:99
btHeightfieldTerrainShape::getHeightfieldRawData
const unsigned char * getHeightfieldRawData() const
Definition: btHeightfieldTerrainShape.h:215
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition: btTriangleInfoMap.h:54
PHY_ScalarType
PHY_ScalarType
PHY_ScalarType enumerates possible scalar types.
Definition: btConcaveShape.h:26
btHeightfieldTerrainShape::getUserValue3
btScalar getUserValue3() const
Definition: btHeightfieldTerrainShape.h:199
btHeightfieldTerrainShape::m_flipQuadEdges
bool m_flipQuadEdges
Definition: btHeightfieldTerrainShape.h:103
btHeightfieldTerrainShape::setFlipTriangleWinding
void setFlipTriangleWinding(bool flipTriangleWinding)
Definition: btHeightfieldTerrainShape.h:166
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btHeightfieldTerrainShape::m_length
btScalar m_length
Definition: btHeightfieldTerrainShape.h:93
btHeightfieldTerrainShape::Range::max
btScalar max
Definition: btHeightfieldTerrainShape.h:79
btHeightfieldTerrainShape::m_minHeight
btScalar m_minHeight
Definition: btHeightfieldTerrainShape.h:90
btHeightfieldTerrainShape::m_useZigzagSubdivision
bool m_useZigzagSubdivision
Definition: btHeightfieldTerrainShape.h:105
btHeightfieldTerrainShape::m_heightfieldDataUnsignedChar
const unsigned char * m_heightfieldDataUnsignedChar
Definition: btHeightfieldTerrainShape.h:96
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btHeightfieldTerrainShape::m_heightStickWidth
int m_heightStickWidth
terrain data
Definition: btHeightfieldTerrainShape.h:88
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btHeightfieldTerrainShape::m_vboundsChunkSize
int m_vboundsChunkSize
Definition: btHeightfieldTerrainShape.h:115
btHeightfieldTerrainShape::setUserValue3
void setUserValue3(btScalar value)
Definition: btHeightfieldTerrainShape.h:195
btHeightfieldTerrainShape::m_vboundsGrid
btAlignedObjectArray< Range > m_vboundsGrid
Definition: btHeightfieldTerrainShape.h:112
btHeightfieldTerrainShape::m_heightfieldDataShort
const short * m_heightfieldDataShort
Definition: btHeightfieldTerrainShape.h:97
btHeightfieldTerrainShape::m_vboundsGridWidth
int m_vboundsGridWidth
Definition: btHeightfieldTerrainShape.h:113
btAlignedObjectArray.h
btHeightfieldTerrainShape::m_flipTriangleWinding
bool m_flipTriangleWinding
Definition: btHeightfieldTerrainShape.h:106
btHeightfieldTerrainShape::m_localOrigin
btVector3 m_localOrigin
Definition: btHeightfieldTerrainShape.h:85
btHeightfieldTerrainShape::m_localScaling
btVector3 m_localScaling
Definition: btHeightfieldTerrainShape.h:109
btHeightfieldTerrainShape::getTriangleInfoMap
const struct btTriangleInfoMap * getTriangleInfoMap() const
Definition: btHeightfieldTerrainShape.h:203
btHeightfieldTerrainShape::m_maxHeight
btScalar m_maxHeight
Definition: btHeightfieldTerrainShape.h:91
btHeightfieldTerrainShape::getName
virtual const char * getName() const
Definition: btHeightfieldTerrainShape.h:192
btHeightfieldTerrainShape::m_userValue3
btScalar m_userValue3
Definition: btHeightfieldTerrainShape.h:118
btHeightfieldTerrainShape::m_heightScale
btScalar m_heightScale
Definition: btHeightfieldTerrainShape.h:94