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btHeightfieldTerrainShape.cpp - Hosted on DriveHQ Cloud IT Platform
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Ruta de la carpeta: \\game3dprogramming\materials\DarkPuzzle\libs\bullet_sdk\src\BulletCollision\CollisionShapes\btHeightfieldTerrainShape.cpp
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/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 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. 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. */ #include "btHeightfieldTerrainShape.h" #include "LinearMath/btTransformUtil.h" btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) : m_heightStickWidth(heightStickWidth), m_heightStickLength(heightStickLength), m_width((btScalar)heightStickWidth-1), m_length((btScalar)heightStickLength-1), m_maxHeight(maxHeight), m_heightfieldDataUnknown(heightfieldData), m_useFloatData(useFloatData), m_flipQuadEdges(flipQuadEdges), m_useDiamondSubdivision(false), m_upAxis(upAxis), m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) { btScalar quantizationMargin = 1.f; //enlarge the AABB to avoid division by zero when initializing the quantization values btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); btVector3 halfExtents(0,0,0); switch (m_upAxis) { case 0: { halfExtents.setValue( btScalar(m_maxHeight), btScalar(m_width), //?? don't know if this should change btScalar(m_length)); break; } case 1: { halfExtents.setValue( btScalar(m_width), btScalar(m_maxHeight), btScalar(m_length)); break; }; case 2: { halfExtents.setValue( btScalar(m_width), btScalar(m_length), btScalar(m_maxHeight) ); break; } default: { //need to get valid m_upAxis btAssert(0); } } halfExtents*= btScalar(0.5); m_localAabbMin = -halfExtents - clampValue; m_localAabbMax = halfExtents + clampValue; btVector3 aabbSize = m_localAabbMax - m_localAabbMin; } btHeightfieldTerrainShape::~btHeightfieldTerrainShape() { } void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { /* aabbMin.setValue(-1e30f,-1e30f,-1e30f); aabbMax.setValue(1e30f,1e30f,1e30f); */ btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); btMatrix3x3 abs_b = t.getBasis().absolute(); btPoint3 center = t.getOrigin(); btVector3 extent = btVector3(abs_b[0].dot(halfExtents), abs_b[1].dot(halfExtents), abs_b[2].dot(halfExtents)); extent += btVector3(getMargin(),getMargin(),getMargin()); aabbMin = center - extent; aabbMax = center + extent; } btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const { btScalar val = 0.f; if (m_useFloatData) { val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; } else { //assume unsigned short int unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; val = heightFieldValue* (m_maxHeight/btScalar(65535)); } return val; } void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const { btAssert(x>=0); btAssert(y>=0); btAssert(x
startX) startX = quantizedAabbMin[1]; if (quantizedAabbMax[1]
startJ) startJ = quantizedAabbMin[2]; if (quantizedAabbMax[2]
startX) startX = quantizedAabbMin[0]; if (quantizedAabbMax[0]
startJ) startJ = quantizedAabbMin[2]; if (quantizedAabbMax[2]
startX) startX = quantizedAabbMin[0]; if (quantizedAabbMax[0]
startJ) startJ = quantizedAabbMin[1]; if (quantizedAabbMax[1]
processTriangle(vertices,x,j); //second triangle getVertex(x,j,vertices[0]); getVertex(x+1,j+1,vertices[1]); getVertex(x,j+1,vertices[2]); callback->processTriangle(vertices,x,j); } else { //first triangle getVertex(x,j,vertices[0]); getVertex(x,j+1,vertices[1]); getVertex(x+1,j,vertices[2]); callback->processTriangle(vertices,x,j); //second triangle getVertex(x+1,j,vertices[0]); getVertex(x,j+1,vertices[1]); getVertex(x+1,j+1,vertices[2]); callback->processTriangle(vertices,x,j); } } } } void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const { //moving concave objects not supported inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); } void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling) { m_localScaling = scaling; } const btVector3& btHeightfieldTerrainShape::getLocalScaling() const { return m_localScaling; }
btHeightfieldTerrainShape.cpp
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