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PyBullet: add support for internal edge filtering for height field terrains

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This commit is contained in:
Erwin Coumans
2019-08-09 10:14:14 -07:00
parent 046e036519
commit 54111f7023
6 changed files with 139 additions and 12 deletions
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22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2805,6 +2805,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
delete trimesh->getTriangleInfoMap();
}
}
if (shape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
{
btHeightfieldTerrainShape* terrain = (btHeightfieldTerrainShape*)shape;
if (terrain->getTriangleInfoMap())
{
delete terrain->getTriangleInfoMap();
}
}
delete shape;
}
for (int j = 0; j < m_data->m_heightfieldDatas.size(); j++)
@@ -4546,12 +4554,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
bool flipQuadEdges = false;
int upAxis = 2;
btHeightfieldTerrainShape* heightfieldShape = worldImporter->createHeightfieldShape( width, height,
/*btHeightfieldTerrainShape* heightfieldShape = worldImporter->createHeightfieldShape( width, height,
heightfieldData,
gridHeightScale,
minHeight, maxHeight,
upAxis, int(scalarType), flipQuadEdges);
*/
btHeightfieldTerrainShape* heightfieldShape = new btHeightfieldTerrainShape( width, height,
heightfieldData,
gridHeightScale,
minHeight, maxHeight,
upAxis, scalarType, flipQuadEdges);
m_data->m_collisionShapes.push_back(heightfieldShape);
heightfieldShape->setUserValue3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_heightfieldTextureScaling);
shape = heightfieldShape;
if (upAxis == 2)
@@ -4565,6 +4580,9 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);
heightfieldShape->setLocalScaling(localScaling);
btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(heightfieldShape, triangleInfoMap);
this->m_data->m_heightfieldDatas.push_back(heightfieldData);