Enable btHeightfieldShape in VehicleDemo, so it is tested (using heightfield128x128)

(converted raw data to .cpp so it doesn't need to be loaded from disk)
Some optimizations for btHeightfieldShape, thanks to Danny Chapman
 Quick check on AABB (was not done) and reduce calls to 'getVertex'

Demos/VehicleDemo/CMakeLists.txt

@@ -20,6 +20,7 @@ LINK_LIBRARIES(
 )
 
 ADD_EXECUTABLE(AppVehicleDemo
+	heightfield128x128.cpp
 	VehicleDemo.cpp
 	main.cpp
 )

Demos/VehicleDemo/Makefile.am

@@ -1,5 +1,5 @@
 noinst_PROGRAMS=VehicleDemo
 
-VehicleDemo_SOURCES=VehicleDemo.cpp VehicleDemo.h main.cpp
+VehicleDemo_SOURCES=VehicleDemo.cpp VehicleDemo.h heightfield128x128.cpp main.cpp
 VehicleDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
 VehicleDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@

Demos/VehicleDemo/VehicleDemo.cpp

@@ -20,7 +20,7 @@ subject to the following restrictions:
 /// with gears etc.
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
-
+extern char MyHeightfield[];
 //
 // By default, Bullet Vehicle uses Y as up axis.
 // You can override the up axis, for example Z-axis up. Enable this define to see how to:
@@ -174,7 +174,7 @@ btTransform tr;
 tr.setIdentity();
 
 //either use heightfield or triangle mesh
-#define  USE_TRIMESH_GROUND 1
+//#define  USE_TRIMESH_GROUND 1
 #ifdef USE_TRIMESH_GROUND
 	int i;
 
@@ -248,6 +248,9 @@ const float TRIANGLE_SIZE=20.f;
 	//testing btHeightfieldTerrainShape
 	int width=128;
 	int length=128;
+	
+
+#ifdef LOAD_FROM_FILE
 	unsigned char* heightfieldData = new unsigned char[width*length];
 	{
 		for (int i=0;i<width*length;i++)
@@ -273,6 +276,9 @@ const float TRIANGLE_SIZE=20.f;
 		}
 		fclose (heightfieldFile);
 	}
+#else
+	char* heightfieldData = MyHeightfield;
+#endif
 
 
 	btScalar maxHeight = 20000.f;
@@ -281,15 +287,18 @@ const float TRIANGLE_SIZE=20.f;
 	bool flipQuadEdges=false;
 
 	btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
+	btVector3 mmin,mmax;
+	heightFieldShape->getAabb(btTransform::getIdentity(),mmin,mmax);
+
 	groundShape = heightFieldShape;
 	
 	heightFieldShape->setUseDiamondSubdivision(true);
 
-	btVector3 localScaling(20,20,20);
+	btVector3 localScaling(100,1,100);
 	localScaling[upIndex]=1.f;
 	groundShape->setLocalScaling(localScaling);
 
-	tr.setOrigin(btVector3(0,-64.5f,0));
+	tr.setOrigin(btVector3(0,9940,0));//-64.5f,0));
 
 #endif //
 
@@ -297,6 +306,7 @@ const float TRIANGLE_SIZE=20.f;
 
 	//create ground object
 	localCreateRigidBody(0,tr,groundShape);
+	tr.setOrigin(btVector3(0,0,0));//-64.5f,0));
 
 #ifdef FORCE_ZAXIS_UP
 //   indexRightAxis = 0; 

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -76,15 +76,25 @@ void	btConvexTriangleCallback::clearCache()
 }
 
 
-
-void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
+void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
+partId, int triangleIndex)
 {
 
         //just for debugging purposes
         //printf("triangle %d",m_triangleCount++);
 
+        const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 
-	//aabb filter is already applied!	
+        //aabb filter NOT is already applied (thanks to Danny Chapman)
+		
+        // Quick check on AABB
+//        const btTransform& tr = ob->getWorldTransform();
+        if (    triangle[0].getZ() < m_aabbMin.getZ() &&
+                triangle[1].getZ() < m_aabbMin.getZ() &&
+                triangle[2].getZ() < m_aabbMin.getZ()  )
+        {
+                return;
+        }
 
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -369,7 +369,7 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
         getVertex(x+1,j+1,vertices[2]);
         callback->processTriangle(vertices,x,j);
         //second triangle
-        getVertex(x,j,vertices[0]);
+      //  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
         getVertex(x+1,j+1,vertices[1]);
         getVertex(x,j+1,vertices[2]);
         callback->processTriangle(vertices,x,j);				
@@ -382,7 +382,7 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
         callback->processTriangle(vertices,x,j);
         //second triangle
         getVertex(x+1,j,vertices[0]);
-        getVertex(x,j+1,vertices[1]);
+        //getVertex(x,j+1,vertices[1]);
         getVertex(x+1,j+1,vertices[2]);
         callback->processTriangle(vertices,x,j);
 			}