Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -22,7 +22,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges)
:m_userIndex2(-1),
m_userValue3(0)
m_userValue3(0),
m_triangleInfoMap(0)
{
initialize(heightStickWidth, heightStickLength, heightfieldData,
heightScale, minHeight, maxHeight, upAxis, hdt,
@@ -31,7 +32,8 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges)
:m_userIndex2(-1),
m_userValue3(0)
m_userValue3(0),
m_triangleInfoMap(0)
{
// legacy constructor: support only float or unsigned char,
// and min height is zero
@@ -353,12 +355,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
getVertex(x, j, vertices[indices[0]]);
getVertex(x, j + 1, vertices[indices[1]]);
getVertex(x + 1, j + 1, vertices[indices[2]]);
callback->processTriangle(vertices, x, j);
callback->processTriangle(vertices, 2 * x, j);
//second triangle
// getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
getVertex(x + 1, j + 1, vertices[indices[1]]);
getVertex(x + 1, j, vertices[indices[2]]);
callback->processTriangle(vertices, x, j);
callback->processTriangle(vertices, 2 * x+1, j);
}
else
{
@@ -366,12 +368,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
getVertex(x, j, vertices[indices[0]]);
getVertex(x, j + 1, vertices[indices[1]]);
getVertex(x + 1, j, vertices[indices[2]]);
callback->processTriangle(vertices, x, j);
callback->processTriangle(vertices, 2 * x, j);
//second triangle
getVertex(x + 1, j, vertices[indices[0]]);
//getVertex(x,j+1,vertices[1]);
getVertex(x + 1, j + 1, vertices[indices[2]]);
callback->processTriangle(vertices, x, j);
callback->processTriangle(vertices, 2 * x+1, j);
}
}
}

14
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -117,6 +117,8 @@ protected:
int m_userIndex2;
btScalar m_userValue3;
struct btTriangleInfoMap* m_triangleInfoMap;
virtual btScalar getRawHeightFieldValue(int x, int y) const;
void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
@@ -206,6 +208,18 @@ public:
{
return m_userValue3;
}
const struct btTriangleInfoMap* getTriangleInfoMap() const
{
return m_triangleInfoMap;
}
struct btTriangleInfoMap* getTriangleInfoMap()
{
return m_triangleInfoMap;
}
void setTriangleInfoMap(btTriangleInfoMap* map)
{
m_triangleInfoMap = map;
}
};
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H