source: code/branches/physics/src/ogrebullet/Collisions/Shapes/OgreBulletCollisionsTerrainShape.h @ 1985

#ifndef _OGREBULLET_HEIGHTMAP_
#define _OGREBULLET_HEIGHTMAP_


#include "OgreBulletCollisionsPrerequisites.h"

#include "OgreBulletCollisionsShape.h"
#include "Debug/OgreBulletCollisionsDebugLines.h"

#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"

namespace OgreBulletCollisions
{
        
        class DebugHelper : public btIDebugDraw
        {
        public:

                DebugHelper(DebugLines* pLines) : m_pLines(pLines) {}
                ~DebugHelper () {}

                void    drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
                {
                        Ogre::Vector3 a(from.x(), from.y(), from.z());
                        Ogre::Vector3 b(to.x(), to.y(), to.z());
                        m_pLines->addLine(a, b);
                }
                void    draw3dText(const btVector3 &,const char *)
                {

                }

                void    drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
                {
                }

                void    reportErrorWarning(const char* warningString)
                {
                }

                void    setDebugMode(int debugMode)
                {
                }

                int             getDebugMode() const
                {
                        return -1;
                }

        private:
                DebugLines* m_pLines;
        };

        class DebugTriangleDrawCallback : public btTriangleCallback
        {
        private:

                DebugHelper     *mDebugHelper;
                btTransform     mTransform;
                btVector3               mColor;

        public:

                DebugTriangleDrawCallback(DebugHelper *db, btTransform &bt, const btVector3& color) :
                  btTriangleCallback(),
                        mDebugHelper(db),
                        mTransform(bt),
                        mColor(color)
                {

                }

                void processTriangle(btVector3* triangle, int partId, int triangleIndex)
                {
                        mDebugHelper->drawLine (*triangle,     *(triangle+1), mColor);
                        mDebugHelper->drawLine (*(triangle+1), *(triangle+2), mColor);
                        mDebugHelper->drawLine (*(triangle+2), *triangle,     mColor);
                }                                                
        };

        class HeightmapCollisionShape : public CollisionShape
        {
        public:
                HeightmapCollisionShape(int width, int length, Ogre::Vector3& scale, Ogre::Real* pHeightData, bool bFlip)
                {
                        int upIndex = 1;
                        bool useFloatDatam=true;
                        bool flipQuadEdges=bFlip;

                        btHeightfieldTerrainShape* pHeightShape = 
                                new btHeightfieldTerrainShape(width, length, pHeightData, scale.y, upIndex, useFloatDatam, flipQuadEdges);
                        pHeightShape->setUseDiamondSubdivision(true);

                        mShape = pHeightShape;

                        btVector3 sc(scale.x, scale.y, scale.z);
                        mShape->setLocalScaling(sc);

                }

                virtual ~HeightmapCollisionShape()
                {
                }

                bool drawWireFrame(DebugLines *wire, 
                        const Ogre::Vector3 &pos = Ogre::Vector3::ZERO, 
                        const Ogre::Quaternion &quat= Ogre::Quaternion::IDENTITY) const
                {
                        btHeightfieldTerrainShape* pHeightShape = static_cast<btHeightfieldTerrainShape*>(mShape);

                        btTransform bt;
                        bt.setIdentity();

                        btVector3 colour(255.0, 255.0, 255.0);

                        DebugHelper ddraw(wire);
                        DebugTriangleDrawCallback cb(&ddraw, bt, colour);

                        btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
                        btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
                        pHeightShape->processAllTriangles(&cb, aabbMin, aabbMax);
                        return true;
                }

        };
}


#endif // _OGREBULLET_HEIGHTMAP_