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source: code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @ 12201

Last change on this file since 12201 was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 10.8 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btHeightfieldTerrainShape.h"
17
18#include "LinearMath/btTransformUtil.h"
19
20
21
22btHeightfieldTerrainShape::btHeightfieldTerrainShape
23(
24int heightStickWidth, int heightStickLength, void* heightfieldData,
25btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
26PHY_ScalarType hdt, bool flipQuadEdges
27)
28{
29        initialize(heightStickWidth, heightStickLength, heightfieldData,
30                   heightScale, minHeight, maxHeight, upAxis, hdt,
31                   flipQuadEdges);
32}
33
34
35
36btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
37{
38        // legacy constructor: support only float or unsigned char,
39        //      and min height is zero
40        PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
41        btScalar minHeight = 0.0;
42
43        // previously, height = uchar * maxHeight / 65535.
44        // So to preserve legacy behavior, heightScale = maxHeight / 65535
45        btScalar heightScale = maxHeight / 65535;
46
47        initialize(heightStickWidth, heightStickLength, heightfieldData,
48                   heightScale, minHeight, maxHeight, upAxis, hdt,
49                   flipQuadEdges);
50}
51
52
53
54void btHeightfieldTerrainShape::initialize
55(
56int heightStickWidth, int heightStickLength, void* heightfieldData,
57btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
58PHY_ScalarType hdt, bool flipQuadEdges
59)
60{
61        // validation
62        btAssert(heightStickWidth > 1 && "bad width");
63        btAssert(heightStickLength > 1 && "bad length");
64        btAssert(heightfieldData && "null heightfield data");
65        // btAssert(heightScale) -- do we care?  Trust caller here
66        btAssert(minHeight <= maxHeight && "bad min/max height");
67        btAssert(upAxis >= 0 && upAxis < 3 &&
68            "bad upAxis--should be in range [0,2]");
69        btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
70            "Bad height data type enum");
71
72        // initialize member variables
73        m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
74        m_heightStickWidth = heightStickWidth;
75        m_heightStickLength = heightStickLength;
76        m_minHeight = minHeight;
77        m_maxHeight = maxHeight;
78        m_width = (btScalar) (heightStickWidth - 1);
79        m_length = (btScalar) (heightStickLength - 1);
80        m_heightScale = heightScale;
81        m_heightfieldDataUnknown = heightfieldData;
82        m_heightDataType = hdt;
83        m_flipQuadEdges = flipQuadEdges;
84        m_useDiamondSubdivision = false;
85        m_upAxis = upAxis;
86        m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
87
88        // determine min/max axis-aligned bounding box (aabb) values
89        switch (m_upAxis)
90        {
91        case 0:
92                {
93                        m_localAabbMin.setValue(m_minHeight, 0, 0);
94                        m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
95                        break;
96                }
97        case 1:
98                {
99                        m_localAabbMin.setValue(0, m_minHeight, 0);
100                        m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
101                        break;
102                };
103        case 2:
104                {
105                        m_localAabbMin.setValue(0, 0, m_minHeight);
106                        m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
107                        break;
108                }
109        default:
110                {
111                        //need to get valid m_upAxis
112                        btAssert(0 && "Bad m_upAxis");
113                }
114        }
115
116        // remember origin (defined as exact middle of aabb)
117        m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
118}
119
120
121
122btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
123{
124}
125
126
127
128void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
129{
130        btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
131
132        btVector3 localOrigin(0, 0, 0);
133        localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
134        localOrigin *= m_localScaling;
135
136        btMatrix3x3 abs_b = t.getBasis().absolute(); 
137        btVector3 center = t.getOrigin();
138        btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
139                   abs_b[1].dot(halfExtents),
140                  abs_b[2].dot(halfExtents));
141        extent += btVector3(getMargin(),getMargin(),getMargin());
142
143        aabbMin = center - extent;
144        aabbMax = center + extent;
145}
146
147
148/// This returns the "raw" (user's initial) height, not the actual height.
149/// The actual height needs to be adjusted to be relative to the center
150///   of the heightfield's AABB.
151btScalar
152btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
153{
154        btScalar val = 0.f;
155        switch (m_heightDataType)
156        {
157        case PHY_FLOAT:
158                {
159                        val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
160                        break;
161                }
162
163        case PHY_UCHAR:
164                {
165                        unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
166                        val = heightFieldValue * m_heightScale;
167                        break;
168                }
169
170        case PHY_SHORT:
171                {
172                        short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
173                        val = hfValue * m_heightScale;
174                        break;
175                }
176
177        default:
178                {
179                        btAssert(!"Bad m_heightDataType");
180                }
181        }
182
183        return val;
184}
185
186
187
188
189/// this returns the vertex in bullet-local coordinates
190void    btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
191{
192        btAssert(x>=0);
193        btAssert(y>=0);
194        btAssert(x<m_heightStickWidth);
195        btAssert(y<m_heightStickLength);
196
197        btScalar        height = getRawHeightFieldValue(x,y);
198
199        switch (m_upAxis)
200        {
201        case 0:
202                {
203                vertex.setValue(
204                        height - m_localOrigin.getX(),
205                        (-m_width/btScalar(2.0)) + x,
206                        (-m_length/btScalar(2.0) ) + y
207                        );
208                        break;
209                }
210        case 1:
211                {
212                        vertex.setValue(
213                        (-m_width/btScalar(2.0)) + x,
214                        height - m_localOrigin.getY(),
215                        (-m_length/btScalar(2.0)) + y
216                        );
217                        break;
218                };
219        case 2:
220                {
221                        vertex.setValue(
222                        (-m_width/btScalar(2.0)) + x,
223                        (-m_length/btScalar(2.0)) + y,
224                        height - m_localOrigin.getZ()
225                        );
226                        break;
227                }
228        default:
229                {
230                        //need to get valid m_upAxis
231                        btAssert(0);
232                }
233        }
234
235        vertex*=m_localScaling;
236}
237
238
239
240static inline int
241getQuantized
242(
243btScalar x
244)
245{
246        if (x < 0.0) {
247                return (int) (x - 0.5);
248        }
249        return (int) (x + 0.5);
250}
251
252
253
254/// given input vector, return quantized version
255/**
256  This routine is basically determining the gridpoint indices for a given
257  input vector, answering the question: "which gridpoint is closest to the
258  provided point?".
259
260  "with clamp" means that we restrict the point to be in the heightfield's
261  axis-aligned bounding box.
262 */
263void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
264{
265        btVector3 clampedPoint(point);
266        clampedPoint.setMax(m_localAabbMin);
267        clampedPoint.setMin(m_localAabbMax);
268
269        out[0] = getQuantized(clampedPoint.getX());
270        out[1] = getQuantized(clampedPoint.getY());
271        out[2] = getQuantized(clampedPoint.getZ());
272               
273}
274
275
276
277/// process all triangles within the provided axis-aligned bounding box
278/**
279  basic algorithm:
280    - convert input aabb to local coordinates (scale down and shift for local origin)
281    - convert input aabb to a range of heightfield grid points (quantize)
282    - iterate over all triangles in that subset of the grid
283 */
284void    btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
285{
286        // scale down the input aabb's so they are in local (non-scaled) coordinates
287        btVector3       localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
288        btVector3       localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
289
290        // account for local origin
291        localAabbMin += m_localOrigin;
292        localAabbMax += m_localOrigin;
293
294        //quantize the aabbMin and aabbMax, and adjust the start/end ranges
295        int     quantizedAabbMin[3];
296        int     quantizedAabbMax[3];
297        quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
298        quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
299       
300        // expand the min/max quantized values
301        // this is to catch the case where the input aabb falls between grid points!
302        for (int i = 0; i < 3; ++i) {
303                quantizedAabbMin[i]--;
304                quantizedAabbMax[i]++;
305        }       
306
307        int startX=0;
308        int endX=m_heightStickWidth-1;
309        int startJ=0;
310        int endJ=m_heightStickLength-1;
311
312        switch (m_upAxis)
313        {
314        case 0:
315                {
316                        if (quantizedAabbMin[1]>startX)
317                                startX = quantizedAabbMin[1];
318                        if (quantizedAabbMax[1]<endX)
319                                endX = quantizedAabbMax[1];
320                        if (quantizedAabbMin[2]>startJ)
321                                startJ = quantizedAabbMin[2];
322                        if (quantizedAabbMax[2]<endJ)
323                                endJ = quantizedAabbMax[2];
324                        break;
325                }
326        case 1:
327                {
328                        if (quantizedAabbMin[0]>startX)
329                                startX = quantizedAabbMin[0];
330                        if (quantizedAabbMax[0]<endX)
331                                endX = quantizedAabbMax[0];
332                        if (quantizedAabbMin[2]>startJ)
333                                startJ = quantizedAabbMin[2];
334                        if (quantizedAabbMax[2]<endJ)
335                                endJ = quantizedAabbMax[2];
336                        break;
337                };
338        case 2:
339                {
340                        if (quantizedAabbMin[0]>startX)
341                                startX = quantizedAabbMin[0];
342                        if (quantizedAabbMax[0]<endX)
343                                endX = quantizedAabbMax[0];
344                        if (quantizedAabbMin[1]>startJ)
345                                startJ = quantizedAabbMin[1];
346                        if (quantizedAabbMax[1]<endJ)
347                                endJ = quantizedAabbMax[1];
348                        break;
349                }
350        default:
351                {
352                        //need to get valid m_upAxis
353                        btAssert(0);
354                }
355        }
356
357       
358 
359
360        for(int j=startJ; j<endJ; j++)
361        {
362                for(int x=startX; x<endX; x++)
363                {
364                        btVector3 vertices[3];
365                        if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
366                        {
367        //first triangle
368        getVertex(x,j,vertices[0]);
369        getVertex(x+1,j,vertices[1]);
370        getVertex(x+1,j+1,vertices[2]);
371        callback->processTriangle(vertices,x,j);
372        //second triangle
373        getVertex(x,j,vertices[0]);
374        getVertex(x+1,j+1,vertices[1]);
375        getVertex(x,j+1,vertices[2]);
376        callback->processTriangle(vertices,x,j);                               
377                        } else
378                        {
379        //first triangle
380        getVertex(x,j,vertices[0]);
381        getVertex(x,j+1,vertices[1]);
382        getVertex(x+1,j,vertices[2]);
383        callback->processTriangle(vertices,x,j);
384        //second triangle
385        getVertex(x+1,j,vertices[0]);
386        getVertex(x,j+1,vertices[1]);
387        getVertex(x+1,j+1,vertices[2]);
388        callback->processTriangle(vertices,x,j);
389                        }
390                }
391        }
392
393       
394
395}
396
397void    btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
398{
399        //moving concave objects not supported
400       
401        inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
402}
403
404void    btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
405{
406        m_localScaling = scaling;
407}
408const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
409{
410        return m_localScaling;
411}
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