/// <summary>
/// Creates native height field object given current Unity Terrain
/// object - if present (in component level or in parents).
/// </summary>
/// <returns>Native height field shape object.</returns>
protected override agxCollide.Shape CreateNative()
{
TerrainData terrainData = GetTerrainData();
if (terrainData == null)
{
return(null);
}
Vector3 scale = terrainData.heightmapScale;
int[] res = new int[] { terrainData.heightmapWidth, terrainData.heightmapHeight };
float[,] heights = terrainData.GetHeights(0, 0, res[0], res[1]);
int resX = res[0];
int resY = res[1];
agx.RealVector agxHeights = new agx.RealVector(resX * resY);
for (int x = resX - 1; x >= 0; --x)
{
for (int y = resY - 1; y >= 0; --y)
{
agxHeights.Add(heights[x, y] * scale.y);
}
}
agxCollide.HeightField hf = new agxCollide.HeightField((uint)res[0], (uint)res[1], GetWidth(), GetHeight(), agxHeights, false, 150.0);
return(hf);
}
private void initializeGearBox(agxDriveTrain.GearBox gearBox)
{
agx.RealVector gears = new agx.RealVector();
foreach (var g in m_gears)
{
gears.Add(g);
}
gearBox.setGearRatios(gears);
gearBox.setGear(1);
}
