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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h')
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1 files changed, 0 insertions, 250 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h deleted file mode 100644 index 7e251fa71e..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ /dev/null @@ -1,250 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -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. -*/ - -#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H -#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H - -#include "btConcaveShape.h" -#include "LinearMath/btAlignedObjectArray.h" - -///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). - - \b 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. - - - unsigned char: height at a point is the uchar value at the - grid point, multipled by heightScale. uchar isn't recommended - because of its inability to deal with negative values, and - low resolution (8-bit). - - - short: height at a point is the short int value at that grid - point, multipled by heightScale. - - - float or dobule: height at a point is the value at that grid point. - - 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. - */ -ATTRIBUTE_ALIGNED16(class) -btHeightfieldTerrainShape : public btConcaveShape -{ -public: - struct Range - { - Range() {} - Range(btScalar min, btScalar max) : min(min), max(max) {} - - bool overlaps(const Range& other) const - { - return !(min > other.max || max < other.min); - } - - btScalar min; - btScalar max; - }; - -protected: - btVector3 m_localAabbMin; - btVector3 m_localAabbMax; - btVector3 m_localOrigin; - - ///terrain data - int m_heightStickWidth; - 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 float* m_heightfieldDataFloat; - const double* m_heightfieldDataDouble; - 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; - - // Accelerator - btAlignedObjectArray<Range> m_vboundsGrid; - int m_vboundsGridWidth; - int m_vboundsGridLength; - int m_vboundsChunkSize; - - - 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 - /** - Handles the work of constructors so that public constructors can be - backwards-compatible without a lot of copy/paste. - */ - void initialize(int heightStickWidth, int heightStickLength, - const void* heightfieldData, btScalar heightScale, - btScalar minHeight, btScalar maxHeight, int upAxis, - PHY_ScalarType heightDataType, bool flipQuadEdges); - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - /// preferred constructors - btHeightfieldTerrainShape( - int heightStickWidth, int heightStickLength, - const float* heightfieldData, btScalar minHeight, btScalar maxHeight, - int upAxis, bool flipQuadEdges); - btHeightfieldTerrainShape( - int heightStickWidth, int heightStickLength, - const double* heightfieldData, btScalar minHeight, btScalar maxHeight, - int upAxis, bool flipQuadEdges); - btHeightfieldTerrainShape( - int heightStickWidth, int heightStickLength, - const short* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, - int upAxis, bool flipQuadEdges); - btHeightfieldTerrainShape( - int heightStickWidth, int heightStickLength, - const unsigned char* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, - int upAxis, bool flipQuadEdges); - - /// legacy 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. - - This legacy constructor considers `PHY_FLOAT` to mean `btScalar`. - With `BT_USE_DOUBLE_PRECISION`, it will expect `heightfieldData` - to be double-precision. - */ - btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, - const void* heightfieldData, btScalar heightScale, - btScalar minHeight, btScalar maxHeight, - int upAxis, PHY_ScalarType heightDataType, - bool flipQuadEdges); - - /// legacy constructor - /** - The legacy constructor assumes the heightfield has a minimum height - of zero. Only unsigned char or btScalar data are supported. For legacy - compatibility reasons, heightScale is calculated as maxHeight / 65535 - (and is only used when useFloatData = false). - */ - btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges); - - virtual ~btHeightfieldTerrainShape(); - - 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 - 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 processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const; - - 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; - - 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 - virtual const char* getName() const { return "HEIGHTFIELD"; } - - - 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 |