btHeightfieldTerrainShape.cpp

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/*
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;
}


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;
}




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);
}




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());
        
}




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;
}