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export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)

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fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
This commit is contained in:
Erwin Coumans
2019-07-29 20:23:38 -07:00
parent 36f3adc03f
commit 51fba6f78d
14 changed files with 286 additions and 71 deletions
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33
examples/Heightfield/HeightfieldExample.cpp
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@@ -491,8 +491,22 @@ getRawHeightfieldData
for (int j = 0; j < width; ++j)
{
float y = j * s_gridSpacing;
float z = double(image[i*3+width*j*3])*(40./256.);
float z = double(image[i*3+width*j*3])*(14./256.);
convertFromFloat(p, z, type);
// update min/max
if (!i && !j) {
minHeight = z;
maxHeight = z;
}
else {
if (z < minHeight) {
minHeight = z;
}
if (z > maxHeight) {
maxHeight = z;
}
}
p += bytesPerElement;
}
}
@@ -574,6 +588,19 @@ getRawHeightfieldData
float y = j * s_gridSpacing;
float z = allValues[i+width*j];
convertFromFloat(p, z, type);
// update min/max
if (!i && !j) {
minHeight = z;
maxHeight = z;
}
else {
if (z < minHeight) {
minHeight = z;
}
if (z > maxHeight) {
maxHeight = z;
}
}
p += bytesPerElement;
}
}
@@ -1159,11 +1186,11 @@ void HeightfieldExample::resetPhysics(void)
// set origin to middle of heightfield
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0, 0, 0));
tr.setOrigin(btVector3(0, 0, -4));
if (m_model== eImageFile)
{
tr.setOrigin(btVector3(0, 0, -24));
b3BulletDefaultFileIO fileIO;
char relativeFileName[1024];
int found = fileIO.findFile("heightmaps/gimp_overlay_out.png", relativeFileName, 1024);