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add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062

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it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
This commit is contained in:
erwincoumans
2019-04-15 21:55:29 -07:00
parent e97a7d77af
commit f28fd91e4f
12 changed files with 1702 additions and 38 deletions
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28
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
#include "LinearMath/btAlignedObjectArray.h"
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
/**
@@ -71,6 +72,13 @@ subject to the following restrictions:
ATTRIBUTE_ALIGNED16(class)
btHeightfieldTerrainShape : public btConcaveShape
{
public:
struct Range
{
btScalar min;
btScalar max;
};
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
@@ -100,9 +108,14 @@ protected:
btVector3 m_localScaling;
// Accelerator
btAlignedObjectArray<Range> m_vboundsGrid;
int m_vboundsGridWidth;
int m_vboundsGridLength;
int m_vboundsChunkSize;
virtual btScalar getRawHeightFieldValue(int x, int y) const;
void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
void getVertex(int x, int y, btVector3& vertex) const;
/// protected initialization
/**
@@ -155,8 +168,19 @@ public:
virtual const btVector3& getLocalScaling() const;
void getVertex(int x, int y, btVector3& vertex) const;
void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget) const;
void buildAccelerator(int chunkSize = 16);
void clearAccelerator();
int getUpAxis() const
{
return m_upAxis;
}
//debugging
virtual const char* getName() const { return "HEIGHTFIELD"; }
};
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H