--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/inc/heightfield.h Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,206 @@
+// dHeightfield Collider
+// Martijn Buijs 2006 http://home.planet.nl/~buijs512/
+// Based on Terrain & Cone contrib by:
+// Benoit CHAPEROT 2003-2004 http://www.jstarlab.com
+
+#ifndef _DHEIGHTFIELD_H_
+#define _DHEIGHTFIELD_H_
+//------------------------------------------------------------------------------
+
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+
+#define HEIGHTFIELDMAXCONTACTPERCELL 10
+
+
+//
+// dxHeightfieldData
+//
+// Heightfield Data structure
+//
+struct dxHeightfieldData
+{
+ dReal m_fWidth; // World space heightfield dimension on X axis
+ dReal m_fDepth; // World space heightfield dimension on Z axis
+ dReal m_fSampleWidth; // Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))
+ dReal m_fSampleDepth; // Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
+ dReal m_fInvSampleWidth; // Cache of inverse Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))
+ dReal m_fInvSampleDepth; // Cache of inverse Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
+
+ dReal m_fHalfWidth; // Cache of half of m_fWidth
+ dReal m_fHalfDepth; // Cache of half of m_fDepth
+
+ dReal m_fMinHeight; // Min sample height value (scaled and offset)
+ dReal m_fMaxHeight; // Max sample height value (scaled and offset)
+ dReal m_fThickness; // Surface thickness (added to bottom AABB)
+ dReal m_fScale; // Sample value multiplier
+ dReal m_fOffset; // Vertical sample offset
+
+ int m_nWidthSamples; // Vertex count on X axis edge (number of samples)
+ int m_nDepthSamples; // Vertex count on Z axis edge (number of samples)
+ int m_bCopyHeightData; // Do we own the sample data?
+ int m_bWrapMode; // Heightfield wrapping mode (0=finite, 1=infinite)
+ int m_nGetHeightMode; // GetHeight mode ( 0=callback, 1=byte, 2=short, 3=float )
+
+ const void* m_pHeightData; // Sample data array
+ void* m_pUserData; // Callback user data
+
+ dContactGeom m_contacts[HEIGHTFIELDMAXCONTACTPERCELL];
+
+ dHeightfieldGetHeight* m_pGetHeightCallback; // Callback pointer.
+
+ dxHeightfieldData();
+ ~dxHeightfieldData();
+
+ void SetData( int nWidthSamples, int nDepthSamples,
+ dReal fWidth, dReal fDepth,
+ dReal fScale, dReal fOffset,
+ dReal fThickness, int bWrapMode );
+
+ void ComputeHeightBounds();
+
+ bool IsOnHeightfield ( const dReal * const CellOrigin, const dReal * const pos, const bool isABC) const;
+ bool IsOnHeightfield2 ( const dReal * const CellOrigin, const dReal * const pos, const bool isABC) const;
+
+ dReal GetHeight(int x, int z);
+ dReal GetHeight(dReal x, dReal z);
+
+};
+
+class HeightFieldVertex;
+class HeightFieldEdge;
+class HeightFieldTriangle;
+
+class HeightFieldVertex
+{
+public:
+ HeightFieldVertex(){};
+
+ dVector3 vertex;
+ bool state;
+};
+
+class HeightFieldEdge
+{
+public:
+ HeightFieldEdge(){};
+
+ HeightFieldVertex *vertices[2];
+};
+//
+// HeightFieldTriangle
+//
+// HeightFieldTriangle composing heightfield mesh
+//
+class HeightFieldTriangle
+{
+public:
+ HeightFieldTriangle(){};
+
+ inline void setMinMax()
+ {
+ maxAAAB = vertices[0]->vertex[1] > vertices[1]->vertex[1] ? vertices[0]->vertex[1] : vertices[1]->vertex[1];
+ maxAAAB = vertices[2]->vertex[1] > maxAAAB ? vertices[2]->vertex[1] : maxAAAB;
+ };
+
+ HeightFieldVertex *vertices[3];
+ dReal planeDef[4];
+ dReal maxAAAB;
+
+ bool isUp;
+ bool state;
+};
+//
+// HeightFieldTriangle
+//
+// HeightFieldPlane composing heightfield mesh
+//
+class HeightFieldPlane
+{
+public:
+ HeightFieldPlane():
+ trianglelist(0),
+ trianglelistReservedSize(0),
+ trianglelistCurrentSize(0)
+ {
+
+ };
+ ~HeightFieldPlane()
+ {
+ delete [] trianglelist;
+ };
+
+ inline void setMinMax()
+ {
+ const size_t asize = trianglelistCurrentSize;
+ if (asize > 0)
+ {
+ maxAAAB = trianglelist[0]->maxAAAB;
+ for (size_t k = 1; asize > k; k++)
+ {
+ if (trianglelist[k]->maxAAAB > maxAAAB)
+ maxAAAB = trianglelist[k]->maxAAAB;
+ }
+ }
+ };
+
+ void resetTriangleListSize(const size_t newSize)
+ {
+ if (trianglelistReservedSize < newSize)
+ {
+ delete [] trianglelist;
+ trianglelistReservedSize = newSize;
+ trianglelist = new HeightFieldTriangle *[newSize];
+ }
+ trianglelistCurrentSize = 0;
+ }
+
+ void addTriangle(HeightFieldTriangle *tri)
+ {
+ trianglelist[trianglelistCurrentSize++] = tri;
+ }
+
+ HeightFieldTriangle **trianglelist;
+ size_t trianglelistReservedSize;
+ size_t trianglelistCurrentSize;
+
+ dReal maxAAAB;
+ dReal planeDef[4];
+};
+//
+// dxHeightfield
+//
+// Heightfield geom structure
+//
+struct dxHeightfield : public dxGeom
+{
+ dxHeightfieldData* m_p_data;
+
+ dxHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlaceable );
+ ~dxHeightfield();
+
+ void computeAABB();
+
+ int dCollideHeightfieldZone( const int minX, const int maxX, const int minZ, const int maxZ,
+ dxGeom *o2, const int numMaxContacts,
+ int flags, dContactGeom *contact, int skip );
+
+ void resetHeightBuffer();
+
+ void sortPlanes(const size_t numPlanes);
+
+ HeightFieldPlane **tempPlaneBuffer;
+ size_t tempPlaneBufferSize;
+
+ HeightFieldTriangle *tempTriangleBuffer;
+ size_t tempTriangleBufferSize;
+
+ HeightFieldVertex **tempHeightBuffer;
+ size_t tempHeightBufferSizeX;
+ size_t tempHeightBufferSizeZ;
+
+};
+
+//------------------------------------------------------------------------------
+#endif //_DHEIGHTFIELD_H_