Bullet Collision Detection & Physics Library
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btHeightfieldTerrainShape simulates a 2D heightfield terrain More...
#include <btHeightfieldTerrainShape.h>
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struct | Range |
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
btHeightfieldTerrainShape (int heightStickWidth, int heightStickLength, const void *heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType heightDataType, bool flipQuadEdges) | |
preferred constructor More... | |
btHeightfieldTerrainShape (int heightStickWidth, int heightStickLength, const void *heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges) | |
legacy constructor More... | |
virtual | ~btHeightfieldTerrainShape () |
void | setUseDiamondSubdivision (bool useDiamondSubdivision=true) |
void | setUseZigzagSubdivision (bool useZigzagSubdivision=true) |
could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625 More... | |
void | setFlipTriangleWinding (bool flipTriangleWinding) |
virtual void | getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const |
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. More... | |
virtual void | processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const |
process all triangles within the provided axis-aligned bounding box More... | |
virtual void | calculateLocalInertia (btScalar mass, btVector3 &inertia) const |
virtual void | setLocalScaling (const btVector3 &scaling) |
virtual const btVector3 & | getLocalScaling () const |
void | getVertex (int x, int y, btVector3 &vertex) const |
this returns the vertex in bullet-local coordinates More... | |
void | performRaycast (btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget) const |
Performs a raycast using a hierarchical Bresenham algorithm. More... | |
void | buildAccelerator (int chunkSize=16) |
Builds a grid data structure storing the min and max heights of the terrain in chunks. More... | |
void | clearAccelerator () |
int | getUpAxis () const |
virtual const char * | getName () const |
void | setUserIndex2 (int index) |
int | getUserIndex2 () const |
void | setUserValue3 (btScalar value) |
btScalar | getUserValue3 () const |
const struct btTriangleInfoMap * | getTriangleInfoMap () const |
struct btTriangleInfoMap * | getTriangleInfoMap () |
void | setTriangleInfoMap (btTriangleInfoMap *map) |
const unsigned char * | getHeightfieldRawData () const |
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BT_DECLARE_ALIGNED_ALLOCATOR () | |
btConcaveShape () | |
virtual | ~btConcaveShape () |
virtual btScalar | getMargin () const |
virtual void | setMargin (btScalar collisionMargin) |
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BT_DECLARE_ALIGNED_ALLOCATOR () | |
btCollisionShape () | |
virtual | ~btCollisionShape () |
virtual void | getBoundingSphere (btVector3 ¢er, btScalar &radius) const |
virtual btScalar | getAngularMotionDisc () const |
getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations. More... | |
virtual btScalar | getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const |
void | calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const |
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) result is conservative More... | |
bool | isPolyhedral () const |
bool | isConvex2d () const |
bool | isConvex () const |
bool | isNonMoving () const |
bool | isConcave () const |
bool | isCompound () const |
bool | isSoftBody () const |
bool | isInfinite () const |
isInfinite is used to catch simulation error (aabb check) More... | |
int | getShapeType () const |
virtual btVector3 | getAnisotropicRollingFrictionDirection () const |
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More... | |
void | setUserPointer (void *userPtr) |
optional user data pointer More... | |
void * | getUserPointer () const |
void | setUserIndex (int index) |
int | getUserIndex () const |
virtual int | calculateSerializeBufferSize () const |
virtual const char * | serialize (void *dataBuffer, btSerializer *serializer) const |
fills the dataBuffer and returns the struct name (and 0 on failure) More... | |
virtual void | serializeSingleShape (btSerializer *serializer) const |
Protected Member Functions | |
virtual btScalar | getRawHeightFieldValue (int x, int y) const |
This returns the "raw" (user's initial) height, not the actual height. More... | |
void | quantizeWithClamp (int *out, const btVector3 &point, int isMax) const |
given input vector, return quantized version More... | |
void | initialize (int heightStickWidth, int heightStickLength, const void *heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType heightDataType, bool flipQuadEdges) |
protected initialization More... | |
Protected Attributes | |
btVector3 | m_localAabbMin |
btVector3 | m_localAabbMax |
btVector3 | m_localOrigin |
int | m_heightStickWidth |
terrain data More... | |
int | m_heightStickLength |
btScalar | m_minHeight |
btScalar | m_maxHeight |
btScalar | m_width |
btScalar | m_length |
btScalar | m_heightScale |
union { | |
const unsigned char * m_heightfieldDataUnsignedChar | |
const short * m_heightfieldDataShort | |
const btScalar * m_heightfieldDataFloat | |
const void * m_heightfieldDataUnknown | |
}; | |
PHY_ScalarType | m_heightDataType |
bool | m_flipQuadEdges |
bool | m_useDiamondSubdivision |
bool | m_useZigzagSubdivision |
bool | m_flipTriangleWinding |
int | m_upAxis |
btVector3 | m_localScaling |
btAlignedObjectArray< Range > | m_vboundsGrid |
int | m_vboundsGridWidth |
int | m_vboundsGridLength |
int | m_vboundsChunkSize |
int | m_userIndex2 |
btScalar | m_userValue3 |
struct btTriangleInfoMap * | m_triangleInfoMap |
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btScalar | m_collisionMargin |
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int | m_shapeType |
void * | m_userPointer |
int | m_userIndex |
btHeightfieldTerrainShape simulates a 2D heightfield terrain
The caller is responsible for maintaining the heightfield array; this class does not make a copy.
The heightfield can be dynamic so long as the min/max height values capture the extremes (heights must always be in that range).
The local origin of the heightfield is assumed to be the exact center (as determined by width and length and height, with each axis multiplied by the localScaling).
NOTE: be careful with coordinates. If you have a heightfield with a local min height of -100m, and a max height of +500m, you may be tempted to place it at the origin (0,0) and expect the heights in world coordinates to be -100 to +500 meters. Actually, the heights will be -300 to +300m, because bullet will re-center the heightfield based on its AABB (which is determined by the min/max heights). So keep in mind that once you create a btHeightfieldTerrainShape object, the heights will be adjusted relative to the center of the AABB. This is different to the behavior of many rendering engines, but is useful for physics engines.
Most (but not all) rendering and heightfield libraries assume upAxis = 1 (that is, the y-axis is "up"). This class allows any of the 3 coordinates to be "up". Make sure your choice of axis is consistent with your rendering system.
The heightfield heights are determined from the data type used for the heightfieldData array.
Whatever the caller specifies as minHeight and maxHeight will be honored. The class will not inspect the heightfield to discover the actual minimum or maximum heights. These values are used to determine the heightfield's axis-aligned bounding box, multiplied by localScaling.
For usage and testing see the TerrainDemo.
Definition at line 72 of file btHeightfieldTerrainShape.h.
btHeightfieldTerrainShape::btHeightfieldTerrainShape | ( | int | heightStickWidth, |
int | heightStickLength, | ||
const void * | heightfieldData, | ||
btScalar | heightScale, | ||
btScalar | minHeight, | ||
btScalar | maxHeight, | ||
int | upAxis, | ||
PHY_ScalarType | heightDataType, | ||
bool | flipQuadEdges | ||
) |
preferred constructor
This constructor supports a range of heightfield data types, and allows for a non-zero minimum height value. heightScale is needed for any integer-based heightfield data types.
Definition at line 20 of file btHeightfieldTerrainShape.cpp.
btHeightfieldTerrainShape::btHeightfieldTerrainShape | ( | int | heightStickWidth, |
int | heightStickLength, | ||
const void * | heightfieldData, | ||
btScalar | maxHeight, | ||
int | upAxis, | ||
bool | useFloatData, | ||
bool | flipQuadEdges | ||
) |
legacy constructor
The legacy constructor assumes the heightfield has a minimum height of zero. Only unsigned char or floats are supported. For legacy compatibility reasons, heightScale is calculated as maxHeight / 65535 (and is only used when useFloatData = false).
Definition at line 33 of file btHeightfieldTerrainShape.cpp.
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Definition at line 120 of file btHeightfieldTerrainShape.cpp.
btHeightfieldTerrainShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
void btHeightfieldTerrainShape::buildAccelerator | ( | int | chunkSize = 16 | ) |
Builds a grid data structure storing the min and max heights of the terrain in chunks.
if chunkSize is zero, that accelerator is removed. If you modify the heights, you need to rebuild this accelerator.
Definition at line 750 of file btHeightfieldTerrainShape.cpp.
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Implements btCollisionShape.
Definition at line 382 of file btHeightfieldTerrainShape.cpp.
void btHeightfieldTerrainShape::clearAccelerator | ( | ) |
Definition at line 848 of file btHeightfieldTerrainShape.cpp.
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getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
Implements btCollisionShape.
Definition at line 125 of file btHeightfieldTerrainShape.cpp.
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Definition at line 223 of file btHeightfieldTerrainShape.h.
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Implements btCollisionShape.
Definition at line 393 of file btHeightfieldTerrainShape.cpp.
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Implements btCollisionShape.
Definition at line 192 of file btHeightfieldTerrainShape.h.
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This returns the "raw" (user's initial) height, not the actual height.
The actual height needs to be adjusted to be relative to the center of the heightfield's AABB.
Definition at line 146 of file btHeightfieldTerrainShape.cpp.
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Definition at line 215 of file btHeightfieldTerrainShape.h.
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Definition at line 211 of file btHeightfieldTerrainShape.h.
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Definition at line 187 of file btHeightfieldTerrainShape.h.
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Definition at line 199 of file btHeightfieldTerrainShape.h.
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Definition at line 207 of file btHeightfieldTerrainShape.h.
void btHeightfieldTerrainShape::getVertex | ( | int | x, |
int | y, | ||
btVector3 & | vertex | ||
) | const |
this returns the vertex in bullet-local coordinates
Definition at line 181 of file btHeightfieldTerrainShape.cpp.
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protected initialization
Handles the work of constructors so that public constructors can be backwards-compatible without a lot of copy/paste.
Definition at line 52 of file btHeightfieldTerrainShape.cpp.
void btHeightfieldTerrainShape::performRaycast | ( | btTriangleCallback * | callback, |
const btVector3 & | raySource, | ||
const btVector3 & | rayTarget | ||
) | const |
Performs a raycast using a hierarchical Bresenham algorithm.
Does not allocate any memory by itself.
Definition at line 680 of file btHeightfieldTerrainShape.cpp.
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process all triangles within the provided axis-aligned bounding box
basic algorithm:
Implements btConcaveShape.
Definition at line 264 of file btHeightfieldTerrainShape.cpp.
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given input vector, return quantized version
This routine is basically determining the gridpoint indices for a given input vector, answering the question: "which gridpoint is closest to the provided point?".
"with clamp" means that we restrict the point to be in the heightfield's axis-aligned bounding box.
Definition at line 246 of file btHeightfieldTerrainShape.cpp.
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Definition at line 166 of file btHeightfieldTerrainShape.h.
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Implements btCollisionShape.
Definition at line 389 of file btHeightfieldTerrainShape.cpp.
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Definition at line 219 of file btHeightfieldTerrainShape.h.
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Definition at line 161 of file btHeightfieldTerrainShape.h.
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Definition at line 195 of file btHeightfieldTerrainShape.h.
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Definition at line 203 of file btHeightfieldTerrainShape.h.
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could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625
Definition at line 164 of file btHeightfieldTerrainShape.h.
union { ... } |
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Definition at line 103 of file btHeightfieldTerrainShape.h.
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Definition at line 106 of file btHeightfieldTerrainShape.h.
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Definition at line 102 of file btHeightfieldTerrainShape.h.
const btScalar* btHeightfieldTerrainShape::m_heightfieldDataFloat |
Definition at line 98 of file btHeightfieldTerrainShape.h.
const short* btHeightfieldTerrainShape::m_heightfieldDataShort |
Definition at line 97 of file btHeightfieldTerrainShape.h.
const void* btHeightfieldTerrainShape::m_heightfieldDataUnknown |
Definition at line 99 of file btHeightfieldTerrainShape.h.
const unsigned char* btHeightfieldTerrainShape::m_heightfieldDataUnsignedChar |
Definition at line 96 of file btHeightfieldTerrainShape.h.
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Definition at line 94 of file btHeightfieldTerrainShape.h.
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Definition at line 89 of file btHeightfieldTerrainShape.h.
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terrain data
Definition at line 88 of file btHeightfieldTerrainShape.h.
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Definition at line 93 of file btHeightfieldTerrainShape.h.
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Definition at line 84 of file btHeightfieldTerrainShape.h.
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Definition at line 83 of file btHeightfieldTerrainShape.h.
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Definition at line 85 of file btHeightfieldTerrainShape.h.
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Definition at line 109 of file btHeightfieldTerrainShape.h.
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Definition at line 91 of file btHeightfieldTerrainShape.h.
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Definition at line 90 of file btHeightfieldTerrainShape.h.
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Definition at line 120 of file btHeightfieldTerrainShape.h.
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Definition at line 107 of file btHeightfieldTerrainShape.h.
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Definition at line 104 of file btHeightfieldTerrainShape.h.
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Definition at line 117 of file btHeightfieldTerrainShape.h.
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Definition at line 118 of file btHeightfieldTerrainShape.h.
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Definition at line 105 of file btHeightfieldTerrainShape.h.
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Definition at line 115 of file btHeightfieldTerrainShape.h.
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Definition at line 112 of file btHeightfieldTerrainShape.h.
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Definition at line 114 of file btHeightfieldTerrainShape.h.
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Definition at line 113 of file btHeightfieldTerrainShape.h.
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Definition at line 92 of file btHeightfieldTerrainShape.h.