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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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6
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -21,7 +21,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges)
:m_userIndex2(-1)
:m_userIndex2(-1),
m_userValue3(0)
{
initialize(heightStickWidth, heightStickLength, heightfieldData,
heightScale, minHeight, maxHeight, upAxis, hdt,
@@ -29,7 +30,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
}
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
:m_userIndex2(-1)
:m_userIndex2(-1),
m_userValue3(0)
{
// legacy constructor: support only float or unsigned char,
// and min height is zero

9
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -115,6 +115,7 @@ protected:
int m_vboundsChunkSize;
int m_userIndex2;
btScalar m_userValue3;
virtual btScalar getRawHeightFieldValue(int x, int y) const;
void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
@@ -197,6 +198,14 @@ public:
{
return m_userIndex2;
}
void setUserValue3(btScalar value)
{
m_userValue3 = value;
}
btScalar getUserValue3() const
{
return m_userValue3;
}
};
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H