basic support for height fields. They are producing temporary triangles, similar to the plane shape.

VehicleDemo demonstrates heightfield support.

Demos/VehicleDemo/VehicleDemo.cpp

@@ -19,6 +19,7 @@ subject to the following restrictions:
 /// A function that maps user input (throttle) into torque/force applied on the wheels
 /// with gears etc.
 #include "btBulletDynamicsCommon.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 
 //
 // By default, Bullet Vehicle uses Y as up axis.
@@ -128,8 +129,9 @@ void VehicleDemo::setupPhysics()
 #endif 
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 
+	//m_dynamicsWorld->setGravity(btVector3(0,0,0));
 
-#define  USE_TRIMESH_GROUND 1
+//#define  USE_TRIMESH_GROUND 1
 #ifdef USE_TRIMESH_GROUND
 	int i;
 
@@ -197,6 +199,22 @@ const float TRIANGLE_SIZE=20.f;
 	bool useQuantizedAabbCompression = true;
 	groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
 	
+#else
+	//testing btHeightfieldTerrainShape
+	int width=128;
+	int length=128;
+	unsigned char* heightfieldData = new unsigned char[width*length];
+
+//	mRawData = new unsigned char [mSize*mSize];	//allocate memory for data
+//	loadFile(filename,mSize*mSize,mRawData);
+
+	btScalar maxHeight = 1.f;
+	
+	groundShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex);
+	btVector3 localScaling(10,10,10);
+	localScaling[upIndex]=1.f;
+	groundShape->setLocalScaling(localScaling);
+
 #endif //
 
 	btTransform tr;
@@ -204,6 +222,8 @@ const float TRIANGLE_SIZE=20.f;
 
 	tr.setOrigin(btVector3(0,-4.5f,0));
 
+
+
 	//create ground object
 	localCreateRigidBody(0,tr,groundShape);
 
@@ -520,6 +540,12 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
 
 void	VehicleDemo::updateCamera()
 {
+	
+//#define DISABLE_CAMERA 1
+#ifdef DISABLE_CAMERA
+	DemoApplication::updateCamera();
+	return;
+#endif //DISABLE_CAMERA
 
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();