Committing height field terrain work from tomva1@yahoo.com
This commit is contained in:
john.mccutchan
@@ -18,71 +18,107 @@ subject to the following restrictions:
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#include "LinearMath/btTransformUtil.h"
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btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
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: btConcaveShape (), m_heightStickWidth(heightStickWidth),
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m_heightStickLength(heightStickLength),
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m_maxHeight(maxHeight),
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m_width((btScalar)heightStickWidth-1),
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m_length((btScalar)heightStickLength-1),
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m_heightfieldDataUnknown(heightfieldData),
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m_useFloatData(useFloatData),
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m_flipQuadEdges(flipQuadEdges),
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m_useDiamondSubdivision(false),
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m_upAxis(upAxis),
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m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
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btHeightfieldTerrainShape::btHeightfieldTerrainShape
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(
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int heightStickWidth, int heightStickLength, void* heightfieldData,
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btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
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PHY_ScalarType hdt, bool flipQuadEdges
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)
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{
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initialize(heightStickWidth, heightStickLength, heightfieldData,
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heightScale, minHeight, maxHeight, upAxis, hdt,
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flipQuadEdges);
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}
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btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
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{
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// legacy constructor: support only float or unsigned char,
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// and min height is zero
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PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
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btScalar minHeight = 0.0;
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// previously, height = uchar * maxHeight / 65535.
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// So to preserve legacy behavior, heightScale = maxHeight / 65535
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btScalar heightScale = maxHeight / 65535;
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initialize(heightStickWidth, heightStickLength, heightfieldData,
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heightScale, minHeight, maxHeight, upAxis, hdt,
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flipQuadEdges);
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}
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void btHeightfieldTerrainShape::initialize
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(
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int heightStickWidth, int heightStickLength, void* heightfieldData,
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btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
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PHY_ScalarType hdt, bool flipQuadEdges
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)
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{
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// validation
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btAssert(heightStickWidth > 1 && "bad width");
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btAssert(heightStickLength > 1 && "bad length");
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btAssert(heightfieldData && "null heightfield data");
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// btAssert(heightScale) -- do we care? Trust caller here
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btAssert(minHeight <= maxHeight && "bad min/max height");
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btAssert(upAxis >= 0 && upAxis < 3 &&
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"bad upAxis--should be in range [0,2]");
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btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
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"Bad height data type enum");
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// initialize member variables
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m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
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m_heightStickWidth = heightStickWidth;
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m_heightStickLength = heightStickLength;
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m_minHeight = minHeight;
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m_maxHeight = maxHeight;
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m_width = (btScalar) (heightStickWidth - 1);
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m_length = (btScalar) (heightStickLength - 1);
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m_heightScale = heightScale;
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m_heightfieldDataUnknown = heightfieldData;
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m_heightDataType = hdt;
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m_flipQuadEdges = flipQuadEdges;
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m_useDiamondSubdivision = false;
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m_upAxis = upAxis;
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m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
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btScalar quantizationMargin = 1.f;
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//enlarge the AABB to avoid division by zero when initializing the quantization values
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btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
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btVector3 halfExtents(0,0,0);
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// determine min/max axis-aligned bounding box (aabb) values
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switch (m_upAxis)
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{
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case 0:
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{
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halfExtents.setValue(
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btScalar(m_maxHeight),
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btScalar(m_width), //?? don't know if this should change
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btScalar(m_length));
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m_localAabbMin.setValue(m_minHeight, 0, 0);
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m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
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break;
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}
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case 1:
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{
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halfExtents.setValue(
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btScalar(m_width),
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btScalar(m_maxHeight),
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btScalar(m_length));
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m_localAabbMin.setValue(0, m_minHeight, 0);
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m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
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break;
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};
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case 2:
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{
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halfExtents.setValue(
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btScalar(m_width),
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btScalar(m_length),
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btScalar(m_maxHeight)
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);
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m_localAabbMin.setValue(0, 0, m_minHeight);
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m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
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break;
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}
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default:
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{
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//need to get valid m_upAxis
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btAssert(0);
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btAssert(0 && "Bad m_upAxis");
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}
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}
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halfExtents*= btScalar(0.5);
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m_localAabbMin = -halfExtents - clampValue;
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m_localAabbMax = halfExtents + clampValue;
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btVector3 aabbSize = m_localAabbMax - m_localAabbMin;
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// remember origin (defined as exact middle of aabb)
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m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
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}
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btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
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{
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}
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@@ -92,33 +128,53 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
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void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
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halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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btVector3 localOrigin(0, 0, 0);
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localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
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localOrigin *= m_localScaling;
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
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abs_b[1].dot(halfExtents),
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abs_b[2].dot(halfExtents));
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extent += btVector3(getMargin(),getMargin(),getMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
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{
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btScalar val = 0.f;
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if (m_useFloatData)
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switch (m_heightDataType)
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{
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val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
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} else
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{
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//assume unsigned short int
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unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
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val = heightFieldValue* (m_maxHeight/btScalar(65535));
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case PHY_FLOAT:
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{
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val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
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break;
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}
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case PHY_UCHAR:
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{
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unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
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val = heightFieldValue * m_heightScale;
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break;
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}
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case PHY_SHORT:
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{
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short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
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val = hfValue * m_heightScale;
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break;
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}
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default:
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{
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btAssert(!"Bad m_heightDataType");
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}
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}
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return val;
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}
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@@ -178,41 +234,73 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
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}
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static inline int
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getQuantized
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(
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float x
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)
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{
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if (x < 0.0) {
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return (int) (x - 0.5);
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}
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return (int) (x + 0.5);
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}
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/// given input vector, return quantized version
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/**
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This routine is basically determining the gridpoint indices for a given
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input vector, answering the question: "which gridpoint is closest to the
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provided point?".
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"with clamp" means that we restrict the point to be in the heightfield's
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axis-aligned bounding box.
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*/
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void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
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{
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btVector3 clampedPoint(point);
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clampedPoint.setMax(m_localAabbMin);
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clampedPoint.setMin(m_localAabbMax);
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btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
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///@todo: optimization: check out how to removed this btFabs
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out[0] = getQuantized(clampedPoint.getX());
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out[1] = getQuantized(clampedPoint.getY());
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out[2] = getQuantized(clampedPoint.getZ());
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out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
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out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
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out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
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}
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/// process all triangles within the provided axis-aligned bounding box
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/**
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basic algorithm:
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- convert input aabb to local coordinates (scale down and shift for local origin)
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- convert input aabb to a range of heightfield grid points (quantize)
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- iterate over all triangles in that subset of the grid
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*/
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void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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(void)callback;
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(void)aabbMax;
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(void)aabbMin;
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//quantize the aabbMin and aabbMax, and adjust the start/end ranges
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int quantizedAabbMin[3];
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int quantizedAabbMax[3];
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// scale down the input aabb's so they are in local (non-scaled) coordinates
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btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
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btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
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// account for local origin
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localAabbMin += m_localOrigin;
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localAabbMax += m_localOrigin;
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//quantize the aabbMin and aabbMax, and adjust the start/end ranges
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int quantizedAabbMin[3];
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int quantizedAabbMax[3];
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quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
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quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
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// expand the min/max quantized values
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// this is to catch the case where the input aabb falls between grid points!
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for (int i = 0; i < 3; ++i) {
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quantizedAabbMin[i]--;
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quantizedAabbMax[i]++;
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}
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int startX=0;
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int endX=m_heightStickWidth-1;
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@@ -223,11 +311,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
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{
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case 0:
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{
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quantizedAabbMin[1]+=m_heightStickWidth/2-1;
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quantizedAabbMax[1]+=m_heightStickWidth/2+1;
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quantizedAabbMin[2]+=m_heightStickLength/2-1;
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quantizedAabbMax[2]+=m_heightStickLength/2+1;
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if (quantizedAabbMin[1]>startX)
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startX = quantizedAabbMin[1];
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if (quantizedAabbMax[1]<endX)
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@@ -240,11 +323,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
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}
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case 1:
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{
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quantizedAabbMin[0]+=m_heightStickWidth/2-1;
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quantizedAabbMax[0]+=m_heightStickWidth/2+1;
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quantizedAabbMin[2]+=m_heightStickLength/2-1;
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quantizedAabbMax[2]+=m_heightStickLength/2+1;
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if (quantizedAabbMin[0]>startX)
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startX = quantizedAabbMin[0];
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if (quantizedAabbMax[0]<endX)
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@@ -257,11 +335,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
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};
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case 2:
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{
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quantizedAabbMin[0]+=m_heightStickWidth/2-1;
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quantizedAabbMax[0]+=m_heightStickWidth/2+1;
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quantizedAabbMin[1]+=m_heightStickLength/2-1;
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quantizedAabbMax[1]+=m_heightStickLength/2+1;
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if (quantizedAabbMin[0]>startX)
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startX = quantizedAabbMin[0];
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if (quantizedAabbMax[0]<endX)
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