btHeightfieldTerrainShape.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
 
#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
 
#include "btConcaveShape.h"
#include "LinearMath/btAlignedObjectArray.h"
 
 
ATTRIBUTE_ALIGNED16(class)
btHeightfieldTerrainShape : public btConcaveShape
{
public:
        struct Range
        {
                Range() {}
                Range(btScalar min, btScalar max) : min(min), max(max) {}
 
                bool overlaps(const Range& other) const
                {
                        return !(min > other.max || max < other.min);
                }
 
                btScalar min;
                btScalar max;
        };
 
protected:
        btVector3 m_localAabbMin;
        btVector3 m_localAabbMax;
        btVector3 m_localOrigin;
 
        int m_heightStickWidth;
        int m_heightStickLength;
        btScalar m_minHeight;
        btScalar m_maxHeight;
        btScalar m_width;
        btScalar m_length;
        btScalar m_heightScale;
        union {
                const unsigned char* m_heightfieldDataUnsignedChar;
                const short* m_heightfieldDataShort;
                const float* m_heightfieldDataFloat;
                const double* m_heightfieldDataDouble;
                const void* m_heightfieldDataUnknown;
        };
 
        PHY_ScalarType m_heightDataType;
        bool m_flipQuadEdges;
        bool m_useDiamondSubdivision;
        bool m_useZigzagSubdivision;
        bool m_flipTriangleWinding;
        int m_upAxis;
 
        btVector3 m_localScaling;
 
        // Accelerator
        btAlignedObjectArray<Range> m_vboundsGrid;
        int m_vboundsGridWidth;
        int m_vboundsGridLength;
        int m_vboundsChunkSize;
 
        
        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;
 
 
        void initialize(int heightStickWidth, int heightStickLength,
                                        const void* heightfieldData, btScalar heightScale,
                                        btScalar minHeight, btScalar maxHeight, int upAxis,
                                        PHY_ScalarType heightDataType, bool flipQuadEdges);
 
public:
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        btHeightfieldTerrainShape(
                int heightStickWidth, int heightStickLength,
                const float* heightfieldData, btScalar minHeight, btScalar maxHeight,
                int upAxis, bool flipQuadEdges);
        btHeightfieldTerrainShape(
                int heightStickWidth, int heightStickLength,
                const double* heightfieldData, btScalar minHeight, btScalar maxHeight,
                int upAxis, bool flipQuadEdges);
        btHeightfieldTerrainShape(
                int heightStickWidth, int heightStickLength,
                const short* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
                int upAxis, bool flipQuadEdges);
        btHeightfieldTerrainShape(
                int heightStickWidth, int heightStickLength,
                const unsigned char* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
                int upAxis, bool flipQuadEdges);
 
 
        btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
                                                          const void* heightfieldData, btScalar heightScale,
                                                          btScalar minHeight, btScalar maxHeight,
                                                          int upAxis, PHY_ScalarType heightDataType,
                                                          bool flipQuadEdges);
 
 
        btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges);
 
        virtual ~btHeightfieldTerrainShape();
 
        void setUseDiamondSubdivision(bool useDiamondSubdivision = true) { m_useDiamondSubdivision = useDiamondSubdivision; }
 
        void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }
 
        void setFlipTriangleWinding(bool flipTriangleWinding)
        {
                m_flipTriangleWinding = flipTriangleWinding;
        }
        virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
        virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
 
        virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
 
        virtual void setLocalScaling(const btVector3& scaling);
 
        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"; }
 
        
        void setUserValue3(btScalar value)
        {
                m_userValue3 = value;
        }
        btScalar getUserValue3() const
        {
                return m_userValue3;
        }
        const struct btTriangleInfoMap* getTriangleInfoMap() const
        {
                return m_triangleInfoMap;
        }
        struct btTriangleInfoMap* getTriangleInfoMap()
        {
                return m_triangleInfoMap;
        }
        void setTriangleInfoMap(btTriangleInfoMap* map)
        {
                m_triangleInfoMap = map;
        }
        const unsigned char* getHeightfieldRawData() const
        {
                return m_heightfieldDataUnsignedChar;
        }
};
 
#endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H