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

add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and

Browse Source 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
This commit is contained in:
Erwin Coumans
2019-07-23 11:26:31 -07:00
parent 96b76dd107
commit ebde9926a8
15 changed files with 3535 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -261,8 +261,10 @@ class MyTriangleCollector2 : public btTriangleCallback
public:
btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
btAlignedObjectArray<int>* m_pIndicesOut;
btVector3 m_aabbMin, m_aabbMax;
MyTriangleCollector2()
MyTriangleCollector2(const btVector3& aabbMin, const btVector3& aabbMax)
:m_aabbMin(aabbMin), m_aabbMax(aabbMax)
{
m_pVerticesOut = 0;
m_pIndicesOut = 0;
@@ -274,7 +276,7 @@ public:
{
GLInstanceVertex v;
v.xyzw[3] = 0;
v.uv[0] = v.uv[1] = 0.5f;
btVector3 normal = (tris[0] - tris[1]).cross(tris[0] - tris[2]);
normal.safeNormalize();
for (int l = 0; l < 3; l++)
@@ -282,6 +284,10 @@ public:
v.xyzw[l] = tris[k][l];
v.normal[l] = normal[l];
}
v.uv[1] = 1-((v.xyzw[0] - m_aabbMin[0]) / (m_aabbMax[0] - m_aabbMin[0]));
v.uv[0] = ((v.xyzw[1] - m_aabbMin[1]) / (m_aabbMax[1] - m_aabbMin[1]));
m_pIndicesOut->push_back(m_pVerticesOut->size());
m_pVerticesOut->push_back(v);
}
@@ -446,10 +452,15 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
{
const btHeightfieldTerrainShape* heightField = static_cast<const btHeightfieldTerrainShape*>(collisionShape);
MyTriangleCollector2 col;
btVector3 aabbMin, aabbMax;
btTransform tr;
tr.setIdentity();
heightField->getAabb(tr, aabbMin, aabbMax);
MyTriangleCollector2 col(aabbMin, aabbMax);
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
btVector3 aabbMin, aabbMax;
for (int k = 0; k < 3; k++)
{
aabbMin[k] = -BT_LARGE_FLOAT;
@@ -458,7 +469,12 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
heightField->processAllTriangles(&col, aabbMin, aabbMax);
if (gfxVertices.size() && indices.size())
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size());
int userImage = heightField->getUserIndex2();
if (userImage == -1)
{
userImage = m_data->m_checkedTextureGrey;
}
int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(),1, userImage);
collisionShape->setUserIndex(shapeId);
}
return;