Bullet Collision Detection & Physics Library
btHeightfieldTerrainShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
22
72{
73protected:
77
86 union
87 {
88 const unsigned char* m_heightfieldDataUnsignedChar;
92 };
93
98
100
102
103 virtual btScalar getRawHeightFieldValue(int x,int y) const;
104 void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
105 void getVertex(int x,int y,btVector3& vertex) const;
106
107
108
110
114 void initialize(int heightStickWidth, int heightStickLength,
115 const void* heightfieldData, btScalar heightScale,
116 btScalar minHeight, btScalar maxHeight, int upAxis,
117 PHY_ScalarType heightDataType, bool flipQuadEdges);
118
119public:
120
122
124
129 btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
130 const void* heightfieldData, btScalar heightScale,
131 btScalar minHeight, btScalar maxHeight,
132 int upAxis, PHY_ScalarType heightDataType,
133 bool flipQuadEdges);
134
136
142 btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
143
145
146
147 void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
148
150 void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;}
151
152 virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
153
154 virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
155
156 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
157
158 virtual void setLocalScaling(const btVector3& scaling);
159
160 virtual const btVector3& getLocalScaling() const;
161
162 //debugging
163 virtual const char* getName()const {return "HEIGHTFIELD";}
164
165};
166
167#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:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
btHeightfieldTerrainShape simulates a 2D heightfield terrain
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 unsigned char * m_heightfieldDataUnsignedChar
virtual const char * getName() const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
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:84