89 lines
3.1 KiB
C++
89 lines
3.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
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#define HEIGHTFIELD_TERRAIN_SHAPE_H
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#include "btConcaveShape.h"
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///btHeightfieldTerrainShape simulates a 2D heightfield terrain
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class btHeightfieldTerrainShape : public btConcaveShape
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{
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protected:
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btVector3 m_localAabbMin;
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btVector3 m_localAabbMax;
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///terrain data
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int m_width;
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int m_length;
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btScalar m_maxHeight;
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union
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{
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unsigned char* m_heightfieldDataUnsignedChar;
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btScalar* m_heightfieldDataFloat;
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void* m_heightfieldDataUnknown;
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};
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bool m_useFloatData;
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bool m_flipQuadEdges;
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bool m_useDiamondSubdivision;
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int m_upAxis;
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btVector3 m_localScaling;
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virtual btScalar getHeightFieldValue(int x,int y) const;
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void quantizeWithClamp(int* out, const btVector3& point) const;
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void getVertex(int x,int y,btVector3& vertex) const;
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inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
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{
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bool overlap = true;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
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return overlap;
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}
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public:
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btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
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virtual ~btHeightfieldTerrainShape();
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void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
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virtual int getShapeType() const
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{
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return TERRAIN_SHAPE_PROXYTYPE;
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}
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
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virtual void setLocalScaling(const btVector3& scaling);
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virtual const btVector3& getLocalScaling() const;
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//debugging
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virtual const char* getName()const {return "HEIGHTFIELD";}
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};
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#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
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