Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

Changeset View

Standalone View

extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

Show All 11 Lines
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.		2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.		3. This notice may not be removed or altered from any source distribution.
*/		*/

#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H		#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H		#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H

#include "btConcaveShape.h"		#include "btConcaveShape.h"
		#include "LinearMath/btAlignedObjectArray.h"

///btHeightfieldTerrainShape simulates a 2D heightfield terrain		///btHeightfieldTerrainShape simulates a 2D heightfield terrain
/**		/**
The caller is responsible for maintaining the heightfield array; this		The caller is responsible for maintaining the heightfield array; this
class does not make a copy.		class does not make a copy.

The heightfield can be dynamic so long as the min/max height values		The heightfield can be dynamic so long as the min/max height values
capture the extremes (heights must always be in that range).		capture the extremes (heights must always be in that range).
Show All 35 Lines	/**

Whatever the caller specifies as minHeight and maxHeight will be honored.		Whatever the caller specifies as minHeight and maxHeight will be honored.
The class will not inspect the heightfield to discover the actual minimum		The class will not inspect the heightfield to discover the actual minimum
or maximum heights. These values are used to determine the heightfield's		or maximum heights. These values are used to determine the heightfield's
axis-aligned bounding box, multiplied by localScaling.		axis-aligned bounding box, multiplied by localScaling.

For usage and testing see the TerrainDemo.		For usage and testing see the TerrainDemo.
*/		*/
ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape		ATTRIBUTE_ALIGNED16(class)
		btHeightfieldTerrainShape : public btConcaveShape
{		{
		public:
		struct Range
		{
		btScalar min;
		btScalar max;
		};

protected:		protected:
btVector3 m_localAabbMin;		btVector3 m_localAabbMin;
btVector3 m_localAabbMax;		btVector3 m_localAabbMax;
btVector3 m_localOrigin;		btVector3 m_localOrigin;

///terrain data		///terrain data
int m_heightStickWidth;		int m_heightStickWidth;
int m_heightStickLength;		int m_heightStickLength;
btScalar m_minHeight;		btScalar m_minHeight;
btScalar m_maxHeight;		btScalar m_maxHeight;
btScalar m_width;		btScalar m_width;
btScalar m_length;		btScalar m_length;
btScalar m_heightScale;		btScalar m_heightScale;
union		union {
{
const unsigned char* m_heightfieldDataUnsignedChar;		const unsigned char* m_heightfieldDataUnsignedChar;
const short* m_heightfieldDataShort;		const short* m_heightfieldDataShort;
const btScalar* m_heightfieldDataFloat;		const btScalar* m_heightfieldDataFloat;
const void* m_heightfieldDataUnknown;		const void* m_heightfieldDataUnknown;
};		};

PHY_ScalarType m_heightDataType;		PHY_ScalarType m_heightDataType;
bool m_flipQuadEdges;		bool m_flipQuadEdges;
bool m_useDiamondSubdivision;		bool m_useDiamondSubdivision;
bool m_useZigzagSubdivision;		bool m_useZigzagSubdivision;
		bool m_flipTriangleWinding;
int m_upAxis;		int m_upAxis;

btVector3 m_localScaling;		btVector3 m_localScaling;

virtual btScalar getRawHeightFieldValue(int x,int y) const;		// Accelerator
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;		btAlignedObjectArray<Range> m_vboundsGrid;
void getVertex(int x,int y,btVector3& vertex) const;		int m_vboundsGridWidth;
		int m_vboundsGridLength;
		int m_vboundsChunkSize;

		int m_userIndex2;
		btScalar m_userValue3;

		struct btTriangleInfoMap* m_triangleInfoMap;

		virtual btScalar getRawHeightFieldValue(int x, int y) const;
		void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;

/// protected initialization		/// protected initialization
/**		/**
Handles the work of constructors so that public constructors can be		Handles the work of constructors so that public constructors can be
backwards-compatible without a lot of copy/paste.		backwards-compatible without a lot of copy/paste.
*/		*/
void initialize(int heightStickWidth, int heightStickLength,		void initialize(int heightStickWidth, int heightStickLength,
const void* heightfieldData, btScalar heightScale,		const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight, int upAxis,		btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType heightDataType, bool flipQuadEdges);		PHY_ScalarType heightDataType, bool flipQuadEdges);

public:		public:

BT_DECLARE_ALIGNED_ALLOCATOR();		BT_DECLARE_ALIGNED_ALLOCATOR();

/// preferred constructor		/// preferred constructor
/**		/**
This constructor supports a range of heightfield		This constructor supports a range of heightfield
data types, and allows for a non-zero minimum height value.		data types, and allows for a non-zero minimum height value.
heightScale is needed for any integer-based heightfield data types.		heightScale is needed for any integer-based heightfield data types.
*/		*/
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,		btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
const void* heightfieldData, btScalar heightScale,		const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight,		btScalar minHeight, btScalar maxHeight,
int upAxis, PHY_ScalarType heightDataType,		int upAxis, PHY_ScalarType heightDataType,
bool flipQuadEdges);		bool flipQuadEdges);

/// legacy constructor		/// legacy constructor
/**		/**
The legacy constructor assumes the heightfield has a minimum height		The legacy constructor assumes the heightfield has a minimum height
of zero. Only unsigned char or floats are supported. For legacy		of zero. Only unsigned char or floats are supported. For legacy
compatibility reasons, heightScale is calculated as maxHeight / 65535		compatibility reasons, heightScale is calculated as maxHeight / 65535
(and is only used when useFloatData = false).		(and is only used when useFloatData = false).
*/		*/
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);		btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges);

virtual ~btHeightfieldTerrainShape();		virtual ~btHeightfieldTerrainShape();


void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}		void setUseDiamondSubdivision(bool useDiamondSubdivision = true) { m_useDiamondSubdivision = useDiamondSubdivision; }

///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625		///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625
void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}		void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }

		void setFlipTriangleWinding(bool flipTriangleWinding)
		{
		m_flipTriangleWinding = flipTriangleWinding;
		}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;		virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;

virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;		virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;

virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;		virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;

virtual void setLocalScaling(const btVector3& scaling);		virtual void setLocalScaling(const btVector3& scaling);

virtual const btVector3& getLocalScaling() const;		virtual const btVector3& getLocalScaling() const;

		void getVertex(int x, int y, btVector3& vertex) const;

		void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget) const;

		void buildAccelerator(int chunkSize = 16);
		void clearAccelerator();

		int getUpAxis() const
		{
		return m_upAxis;
		}
//debugging		//debugging
virtual const char* getName()const {return "HEIGHTFIELD";}		virtual const char* getName() const { return "HEIGHTFIELD"; }


		void setUserIndex2(int index)
		{
		m_userIndex2 = index;
		}
		int getUserIndex2() const
		{
		return m_userIndex2;
		}
		void setUserValue3(btScalar value)
		{
		m_userValue3 = value;
		}
		btScalar getUserValue3() const
		{
		return m_userValue3;
		}
		const struct btTriangleInfoMap* getTriangleInfoMap() const
		{
		return m_triangleInfoMap;
		}
		struct btTriangleInfoMap* getTriangleInfoMap()
		{
		return m_triangleInfoMap;
		}
		void setTriangleInfoMap(btTriangleInfoMap* map)
		{
		m_triangleInfoMap = map;
		}
		const unsigned char* getHeightfieldRawData() const
		{
		return m_heightfieldDataUnsignedChar;
		}
};		};

#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H		#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
		No newline at end of file