public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
float scaleFactor, float collisionMargin)
{
const int upAxis = 2;
HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
heightMap, scaleFactor,
minHeight, maxHeight, upAxis,
false);
terrainShape.SetMargin(collisionMargin);
terrainShape.SetUseDiamondSubdivision(true);
terrainShape.SetUserPointer(id);
return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
}
////////////////////////////////////////////////////////////////////////////////
//
// TerrainDemo -- private helper methods
//
////////////////////////////////////////////////////////////////////////////////
/// called whenever key terrain attribute is changed
public override void ClientResetScene()
{
base.ClientResetScene();
// remove old heightfield
m_rawHeightfieldData = null;
// reset gravity to point in appropriate direction
//m_dynamicsWorld.setGravity(getUpVector(m_upAxis, 0.0f, -s_gravity));
m_dynamicsWorld.SetGravity(ref m_defaultGravity);
// get new heightfield of appropriate type
m_rawHeightfieldData =
GetRawHeightfieldData(m_model, m_type, ref m_minHeight, ref m_maxHeight);
Debug.Assert(m_rawHeightfieldData != null , "failed to create raw heightfield");
if (m_terrainRigidBody != null)
{
m_dynamicsWorld.RemoveCollisionObject(m_terrainRigidBody);
m_terrainRigidBody = null;
m_terrainShape = null;
m_collisionShapes.Remove(m_terrainShape);
}
bool flipQuadEdges = false;
m_terrainShape =
new HeightfieldTerrainShape(s_gridSize, s_gridSize,
m_rawHeightfieldData,
s_gridHeightScale,
m_minHeight, m_maxHeight,
m_upAxis, m_type, flipQuadEdges);
Debug.Assert(m_terrainShape != null, "null heightfield");
// scale the shape
IndexedVector3 localScaling = GetUpVector(m_upAxis, s_gridSpacing, 1.0f);
m_terrainShape.SetLocalScaling(ref localScaling);
// stash this shape away
m_collisionShapes.Add(m_terrainShape);
// set origin to middle of heightfield
IndexedMatrix tr = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-20,0));
// create ground object
float mass = 0.0f;
m_terrainRigidBody = LocalCreateRigidBody(mass, ref tr, m_terrainShape);
CollisionShape sphere = new SphereShape(0.5f);
tr = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0));
LocalCreateRigidBody(1f,ref tr,sphere);
}
internal static object CreateTerrainShape2(object pMapInfo)
{
BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
const int upAxis = 2;
const float scaleFactor = 1.0f;
HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
mapinfo.heightMap, scaleFactor,
mapinfo.minZ, mapinfo.maxZ, upAxis,
false);
terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
terrainShape.SetUseDiamondSubdivision(true);
terrainShape.SetUserPointer(mapinfo.ID);
return terrainShape;
}
public virtual void LoadHeightField(float[,] heights, float heightRange, uint vertsX, uint vertsZ, Vector3 loc, int metersPerSample)
{
//if (worldLoaded == false || metersPerSample > 2)
// return;
loc = loc / scaleFactor;
//heightRange = heightRange * 1000;
//loc.X += heightFieldOffset;
//loc.z += heightFieldOffset; // these axes are out by about 1m?
if (heightFields.ContainsKey(loc))
{
int oldMetersPerSample = heightFields[loc];
if (oldMetersPerSample == metersPerSample)
{
return; // no need to update
}
else
{
// we need to delete the old one to rebuild this one
foreach (CollisionObject a in m_dynamicsWorld.GetCollisionObjectArray())
{
if (a.GetCollisionShape() != null && a.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)
{
string terrainName = (string)a.GetUserPointer();
if (terrainName == "TestHeightField_" + loc)
{
a.Cleanup();
heightFields.Remove(loc);
System.Console.WriteLine("Removed heightmap at position '{0}' with metersPerSample: '{1}' and old: '{2}'",
loc, metersPerSample, oldMetersPerSample);
break;
}
}
}
}
}
byte[] terr = new byte[vertsX * vertsZ * 4];
MemoryStream file = new MemoryStream(terr);
BinaryWriter writer = new BinaryWriter(file);
for (int i = 0; i < vertsX; i++)
{
for (int j = 0; j < vertsZ; j++)
{
writer.Write((float)((heightRange / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
//writer.Write(0f);
}
}
writer.Flush();
file.Position = 0;
float heightScale = heightRange / 32767f / scaleFactor;
int upAxis = 1;
CollisionShape terrainShape = new HeightfieldTerrainShape((int)vertsX, (int)vertsZ, terr, heightScale, 0, heightRange, upAxis, PHY_ScalarType.PHY_FLOAT, true);
IndexedMatrix worldTransform = IndexedMatrix.CreateTranslation(loc);
DefaultMotionState objectMotionState = new DefaultMotionState(worldTransform, IndexedMatrix.Identity);
//terrainShape = new StaticPlaneShape(Vector3.Up, 0f);
//IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//terrainShape = new BoxShape(ref halfExtents);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(0, objectMotionState, terrainShape);
RigidBody terrain = new RigidBody(rbInfo);
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -5, 0));
LocalCreateRigidBody(0f, groundTransform, terrainShape);
terrain.SetUserPointer("TestHeightField_" + loc.ToString());
//terrain.SetCollisionFlags(CollisionFlags.CF_KINEMATIC_OBJECT);
////m_dynamicsWorld.AddCollisionObject(terrain, CollisionFilterGroups.DefaultFilter, CollisionFilterGroups.AllFilter);
//m_dynamicsWorld.AddCollisionObject(terrain);
System.Console.WriteLine("Added heightmap at position: '{0}' with metersPerSample: '{1}'", loc, metersPerSample);
heightFields.Add(loc, metersPerSample);
}
public void AdjustHeightValues(int xAxis,int yAxis,int zAxis,ref float min,ref float max,HeightfieldTerrainShape shape)
{
if (children == null)
{
min = vmin[yAxis];
max = vmax[yAxis];
int[] clampedMin = new int[3];
int[] clampedMax = new int[3];
shape.QuantizeWithClamp(clampedMin, ref vmin, 0);
shape.QuantizeWithClamp(clampedMax, ref vmax, 1);
shape.InspectVertexHeights(clampedMin[xAxis], clampedMax[xAxis], clampedMin[zAxis], clampedMax[zAxis], yAxis, ref min, ref max);
vmin[yAxis] = min;
vmax[yAxis] = max;
}
else
{
float newMin = min;
float newMax = max;
children[0].AdjustHeightValues(xAxis,yAxis, zAxis,ref newMin, ref newMax,shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[1].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[2].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[3].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
vmin[yAxis] = min;
vmax[yAxis] = max;
}
}
public void AdjustHeightValues(int xAxis, int yAxis, int zAxis, ref float min, ref float max, HeightfieldTerrainShape shape)
{
if (children == null)
{
min = vmin[yAxis];
max = vmax[yAxis];
int[] clampedMin = new int[3];
int[] clampedMax = new int[3];
shape.QuantizeWithClamp(clampedMin, ref vmin, 0);
shape.QuantizeWithClamp(clampedMax, ref vmax, 1);
shape.InspectVertexHeights(clampedMin[xAxis], clampedMax[xAxis], clampedMin[zAxis], clampedMax[zAxis], yAxis, ref min, ref max);
vmin[yAxis] = min;
vmax[yAxis] = max;
}
else
{
float newMin = min;
float newMax = max;
children[0].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[1].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[2].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
children[3].AdjustHeightValues(xAxis, yAxis, zAxis, ref newMin, ref newMax, shape);
if (newMin < min)
{
min = newMin;
}
if (newMax > max)
{
max = newMax;
}
vmin[yAxis] = min;
vmax[yAxis] = max;
}
}
