Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp (modified) (8 diffs)

code/trunk/src/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -145 +145 @@
 }
 
-btScalar        btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
+
+/// 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;
@@ -182 +187 @@
 
 
-
+/// this returns the vertex in bullet-local coordinates
 void    btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
 {
-
         btAssert(x>=0);
         btAssert(y>=0);
@@ -191 +195 @@
         btAssert(y<m_heightStickLength);
 
-
-        btScalar        height = getHeightFieldValue(x,y);
+        btScalar        height = getRawHeightFieldValue(x,y);
 
         switch (m_upAxis)
@@ -199 +202 @@
                 {
                 vertex.setValue(
-                        height,
+                        height - m_localOrigin.getX(),
                         (-m_width/btScalar(2.0)) + x,
                         (-m_length/btScalar(2.0) ) + y
@@ -209 +212 @@
                         vertex.setValue(
                         (-m_width/btScalar(2.0)) + x,
-                        height,
+                        height - m_localOrigin.getY(),
                         (-m_length/btScalar(2.0)) + y
                         );
@@ -219 +222 @@
                         (-m_width/btScalar(2.0)) + x,
                         (-m_length/btScalar(2.0)) + y,
-                        height
+                        height - m_localOrigin.getZ()
                         );
                         break;
@@ -231 +234 @@
 
         vertex*=m_localScaling;
-        
 }
 
@@ -239 +241 @@
 getQuantized
 (
-float x
+btScalar x
 )
 {