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path: root/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp115
1 files changed, 56 insertions, 59 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index 94be43c88e2..a291d6b7ce7 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -18,16 +18,18 @@ subject to the following restrictions:
#include "LinearMath/btTransformUtil.h"
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
-:m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_width(width),
-m_length(length),
-m_heightfieldDataUnknown(heightfieldData),
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+: m_heightStickWidth(heightStickWidth),
+m_heightStickLength(heightStickLength),
m_maxHeight(maxHeight),
-m_upAxis(upAxis),
+m_width((btScalar)heightStickWidth-1),
+m_length((btScalar)heightStickLength-1),
+m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges),
-m_useDiamondSubdivision(false)
+m_useDiamondSubdivision(false),
+m_upAxis(upAxis),
+m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
@@ -43,25 +45,25 @@ m_useDiamondSubdivision(false)
case 0:
{
halfExtents.setValue(
- m_maxHeight,
- m_width,
- m_length);
+ btScalar(m_maxHeight),
+ btScalar(m_width), //?? don't know if this should change
+ btScalar(m_length));
break;
}
case 1:
{
halfExtents.setValue(
- m_width,
- m_maxHeight,
- m_length);
+ btScalar(m_width),
+ btScalar(m_maxHeight),
+ btScalar(m_length));
break;
};
case 2:
{
halfExtents.setValue(
- m_width,
- m_length,
- m_maxHeight
+ btScalar(m_width),
+ btScalar(m_length),
+ btScalar(m_maxHeight)
);
break;
}
@@ -89,19 +91,15 @@ 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);
+ halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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;
@@ -114,11 +112,11 @@ btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
btScalar val = 0.f;
if (m_useFloatData)
{
- val = m_heightfieldDataFloat[(y*m_width)+x];
+ val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
} else
{
//assume unsigned short int
- unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_width)+x];
+ unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
val = heightFieldValue* (m_maxHeight/btScalar(65535));
}
return val;
@@ -133,8 +131,8 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
btAssert(x>=0);
btAssert(y>=0);
- btAssert(x<m_width);
- btAssert(y<m_length);
+ btAssert(x<m_heightStickWidth);
+ btAssert(y<m_heightStickLength);
btScalar height = getHeightFieldValue(x,y);
@@ -145,25 +143,25 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
{
vertex.setValue(
height,
- (-m_width/2 ) + x,
- (-m_length/2 ) + y
+ (-m_width/btScalar(2.0)) + x,
+ (-m_length/btScalar(2.0) ) + y
);
break;
}
case 1:
{
vertex.setValue(
- (-m_width/2 ) + x,
+ (-m_width/btScalar(2.0)) + x,
height,
- (-m_length/2 ) + y
+ (-m_length/btScalar(2.0)) + y
);
break;
};
case 2:
{
vertex.setValue(
- (-m_width/2 ) + x,
- (-m_length/2 ) + y,
+ (-m_width/btScalar(2.0)) + x,
+ (-m_length/btScalar(2.0)) + y,
height
);
break;
@@ -180,21 +178,20 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
-void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point) const
+void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
{
-
-
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
- btVector3 v = (clampedPoint );// * m_quantization;
-
- out[0] = (int)(v.getX());
- out[1] = (int)(v.getY());
- out[2] = (int)(v.getZ());
- //correct for
+ btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
+ //TODO: optimization: check out how to removed this btFabs
+
+ out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
+ out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
+ out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
+
}
@@ -212,24 +209,24 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
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]);
- quantizeWithClamp(quantizedAabbMin, localAabbMin);
- quantizeWithClamp(quantizedAabbMax, localAabbMax);
+ quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
+ quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
int startX=0;
- int endX=m_width-1;
+ int endX=m_heightStickWidth-1;
int startJ=0;
- int endJ=m_length-1;
+ int endJ=m_heightStickLength-1;
switch (m_upAxis)
{
case 0:
{
- quantizedAabbMin[1]+=m_width/2-1;
- quantizedAabbMax[1]+=m_width/2+1;
- quantizedAabbMin[2]+=m_length/2-1;
- quantizedAabbMax[2]+=m_length/2+1;
+ quantizedAabbMin[1]+=m_heightStickWidth/2-1;
+ quantizedAabbMax[1]+=m_heightStickWidth/2+1;
+ quantizedAabbMin[2]+=m_heightStickLength/2-1;
+ quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
@@ -243,10 +240,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
case 1:
{
- quantizedAabbMin[0]+=m_width/2-1;
- quantizedAabbMax[0]+=m_width/2+1;
- quantizedAabbMin[2]+=m_length/2-1;
- quantizedAabbMax[2]+=m_length/2+1;
+ quantizedAabbMin[0]+=m_heightStickWidth/2-1;
+ quantizedAabbMax[0]+=m_heightStickWidth/2+1;
+ quantizedAabbMin[2]+=m_heightStickLength/2-1;
+ quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
@@ -260,10 +257,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
};
case 2:
{
- quantizedAabbMin[0]+=m_width/2-1;
- quantizedAabbMax[0]+=m_width/2+1;
- quantizedAabbMin[1]+=m_length/2-1;
- quantizedAabbMax[1]+=m_length/2+1;
+ quantizedAabbMin[0]+=m_heightStickWidth/2-1;
+ quantizedAabbMax[0]+=m_heightStickWidth/2+1;
+ quantizedAabbMin[1]+=m_heightStickLength/2-1;
+ quantizedAabbMax[1]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
@@ -290,7 +287,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
- if (m_flipQuadEdges || (m_useDiamondSubdivision && ((j+x) & 1)))
+ if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);
@@ -322,7 +319,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
-void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia)
+void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
{
//moving concave objects not supported
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-18 06:01:27 +0300