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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp | 411 |
1 files changed, 0 insertions, 411 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp deleted file mode 100644 index 3a1e6f4a2b9..00000000000 --- a/extern/bullet2/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ /dev/null @@ -1,411 +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. -*/ - -#include "btHeightfieldTerrainShape.h" - -#include "LinearMath/btTransformUtil.h" - - - -btHeightfieldTerrainShape::btHeightfieldTerrainShape -( -int heightStickWidth, int heightStickLength, void* heightfieldData, -btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis, -PHY_ScalarType hdt, bool flipQuadEdges -) -{ - initialize(heightStickWidth, heightStickLength, heightfieldData, - heightScale, minHeight, maxHeight, upAxis, hdt, - flipQuadEdges); -} - - - -btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) -{ - // legacy constructor: support only float or unsigned char, - // and min height is zero - PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR; - btScalar minHeight = 0.0; - - // previously, height = uchar * maxHeight / 65535. - // So to preserve legacy behavior, heightScale = maxHeight / 65535 - btScalar heightScale = maxHeight / 65535; - - initialize(heightStickWidth, heightStickLength, heightfieldData, - heightScale, minHeight, maxHeight, upAxis, hdt, - flipQuadEdges); -} - - - -void btHeightfieldTerrainShape::initialize -( -int heightStickWidth, int heightStickLength, void* heightfieldData, -btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, -PHY_ScalarType hdt, bool flipQuadEdges -) -{ - // validation - btAssert(heightStickWidth > 1 && "bad width"); - btAssert(heightStickLength > 1 && "bad length"); - btAssert(heightfieldData && "null heightfield data"); - // btAssert(heightScale) -- do we care? Trust caller here - btAssert(minHeight <= maxHeight && "bad min/max height"); - btAssert(upAxis >= 0 && upAxis < 3 && - "bad upAxis--should be in range [0,2]"); - btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT && - "Bad height data type enum"); - - // initialize member variables - m_shapeType = TERRAIN_SHAPE_PROXYTYPE; - m_heightStickWidth = heightStickWidth; - m_heightStickLength = heightStickLength; - m_minHeight = minHeight; - m_maxHeight = maxHeight; - m_width = (btScalar) (heightStickWidth - 1); - m_length = (btScalar) (heightStickLength - 1); - m_heightScale = heightScale; - m_heightfieldDataUnknown = heightfieldData; - m_heightDataType = hdt; - m_flipQuadEdges = flipQuadEdges; - m_useDiamondSubdivision = false; - m_upAxis = upAxis; - m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); - - // determine min/max axis-aligned bounding box (aabb) values - switch (m_upAxis) - { - case 0: - { - m_localAabbMin.setValue(m_minHeight, 0, 0); - m_localAabbMax.setValue(m_maxHeight, m_width, m_length); - break; - } - case 1: - { - m_localAabbMin.setValue(0, m_minHeight, 0); - m_localAabbMax.setValue(m_width, m_maxHeight, m_length); - break; - }; - case 2: - { - m_localAabbMin.setValue(0, 0, m_minHeight); - m_localAabbMax.setValue(m_width, m_length, m_maxHeight); - break; - } - default: - { - //need to get valid m_upAxis - btAssert(0 && "Bad m_upAxis"); - } - } - - // remember origin (defined as exact middle of aabb) - m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax); -} - - - -btHeightfieldTerrainShape::~btHeightfieldTerrainShape() -{ -} - - - -void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const -{ - btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); - - btVector3 localOrigin(0, 0, 0); - localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5); - localOrigin *= m_localScaling; - - btMatrix3x3 abs_b = t.getBasis().absolute(); - btVector3 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; -} - - -/// 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. -btScalar -btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const -{ - btScalar val = 0.f; - switch (m_heightDataType) - { - case PHY_FLOAT: - { - val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; - break; - } - - case PHY_UCHAR: - { - unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; - val = heightFieldValue * m_heightScale; - break; - } - - case PHY_SHORT: - { - short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x]; - val = hfValue * m_heightScale; - break; - } - - default: - { - btAssert(!"Bad m_heightDataType"); - } - } - - return val; -} - - - - -/// this returns the vertex in bullet-local coordinates -void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const -{ - btAssert(x>=0); - btAssert(y>=0); - btAssert(x<m_heightStickWidth); - btAssert(y<m_heightStickLength); - - btScalar height = getRawHeightFieldValue(x,y); - - switch (m_upAxis) - { - case 0: - { - vertex.setValue( - height - m_localOrigin.getX(), - (-m_width/btScalar(2.0)) + x, - (-m_length/btScalar(2.0) ) + y - ); - break; - } - case 1: - { - vertex.setValue( - (-m_width/btScalar(2.0)) + x, - height - m_localOrigin.getY(), - (-m_length/btScalar(2.0)) + y - ); - break; - }; - case 2: - { - vertex.setValue( - (-m_width/btScalar(2.0)) + x, - (-m_length/btScalar(2.0)) + y, - height - m_localOrigin.getZ() - ); - break; - } - default: - { - //need to get valid m_upAxis - btAssert(0); - } - } - - vertex*=m_localScaling; -} - - - -static inline int -getQuantized -( -btScalar x -) -{ - if (x < 0.0) { - return (int) (x - 0.5); - } - return (int) (x + 0.5); -} - - - -/// 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. - */ -void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const -{ - btVector3 clampedPoint(point); - clampedPoint.setMax(m_localAabbMin); - clampedPoint.setMin(m_localAabbMax); - - out[0] = getQuantized(clampedPoint.getX()); - out[1] = getQuantized(clampedPoint.getY()); - out[2] = getQuantized(clampedPoint.getZ()); - -} - - - -/// process all triangles within the provided axis-aligned bounding box -/** - basic algorithm: - - convert input aabb to local coordinates (scale down and shift for local origin) - - convert input aabb to a range of heightfield grid points (quantize) - - iterate over all triangles in that subset of the grid - */ -void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - // scale down the input aabb's so they are in local (non-scaled) coordinates - btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - - // account for local origin - localAabbMin += m_localOrigin; - localAabbMax += m_localOrigin; - - //quantize the aabbMin and aabbMax, and adjust the start/end ranges - int quantizedAabbMin[3]; - int quantizedAabbMax[3]; - quantizeWithClamp(quantizedAabbMin, localAabbMin,0); - quantizeWithClamp(quantizedAabbMax, localAabbMax,1); - - // expand the min/max quantized values - // this is to catch the case where the input aabb falls between grid points! - for (int i = 0; i < 3; ++i) { - quantizedAabbMin[i]--; - quantizedAabbMax[i]++; - } - - int startX=0; - int endX=m_heightStickWidth-1; - int startJ=0; - int endJ=m_heightStickLength-1; - - switch (m_upAxis) - { - case 0: - { - if (quantizedAabbMin[1]>startX) - startX = quantizedAabbMin[1]; - if (quantizedAabbMax[1]<endX) - endX = quantizedAabbMax[1]; - if (quantizedAabbMin[2]>startJ) - startJ = quantizedAabbMin[2]; - if (quantizedAabbMax[2]<endJ) - endJ = quantizedAabbMax[2]; - break; - } - case 1: - { - if (quantizedAabbMin[0]>startX) - startX = quantizedAabbMin[0]; - if (quantizedAabbMax[0]<endX) - endX = quantizedAabbMax[0]; - if (quantizedAabbMin[2]>startJ) - startJ = quantizedAabbMin[2]; - if (quantizedAabbMax[2]<endJ) - endJ = quantizedAabbMax[2]; - break; - }; - case 2: - { - if (quantizedAabbMin[0]>startX) - startX = quantizedAabbMin[0]; - if (quantizedAabbMax[0]<endX) - endX = quantizedAabbMax[0]; - if (quantizedAabbMin[1]>startJ) - startJ = quantizedAabbMin[1]; - if (quantizedAabbMax[1]<endJ) - endJ = quantizedAabbMax[1]; - break; - } - default: - { - //need to get valid m_upAxis - btAssert(0); - } - } - - - - - for(int j=startJ; j<endJ; j++) - { - for(int x=startX; x<endX; x++) - { - btVector3 vertices[3]; - if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))) - { - //first triangle - getVertex(x,j,vertices[0]); - getVertex(x+1,j,vertices[1]); - getVertex(x+1,j+1,vertices[2]); - callback->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; -} |