Add HeightFieldShape class

CMakeLists.txt

@@ -98,6 +98,8 @@ SET (REACTPHYSICS3D_SOURCES
     "src/collision/shapes/TriangleShape.cpp"
     "src/collision/shapes/ConcaveMeshShape.h"
     "src/collision/shapes/ConcaveMeshShape.cpp"
+    "src/collision/shapes/HeightFieldShape.h"
+    "src/collision/shapes/HeightFieldShape.cpp"
     "src/collision/RaycastInfo.h"
     "src/collision/RaycastInfo.cpp"
     "src/collision/ProxyShape.h"

src/collision/shapes/HeightFieldShape.cpp

@@ -0,0 +1,65 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "HeightFieldShape.h"
+
+using namespace reactphysics3d;
+
+// Constructor
+// TODO : Add documentation to this constructor
+HeightFieldShape::HeightFieldShape(int width, int length, int minHeight, int maxHeight,
+                                   const void* heightFieldData, HeightDataType dataType, int upAxis)
+                 : ConcaveShape(CONCAVE_MESH), mWidth(width), mLength(length), mMinHeight(minHeight),
+                   mMaxHeight(maxHeight), mUpAxis(upAxis), mHeightDataType(dataType) {
+
+    assert(width >= 1);
+    assert(length >= 1);
+    assert(minHeight <= maxHeight);
+    assert(upAxis == 0 || upAxis == 1 || upAxis == 2);
+
+    mHeightFieldData = heightFieldData;
+}
+
+// Destructor
+HeightFieldShape::~HeightFieldShape() {
+
+}
+
+// Use a callback method on all triangles of the concave shape inside a given AABB
+void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const {
+
+   // TODO : Implement this
+}
+
+// Raycast method with feedback information
+/// Note that only the first triangle hit by the ray in the mesh will be returned, even if
+/// the ray hits many triangles.
+bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const {
+
+    PROFILE("HeightFieldShape::raycast()");
+
+    // TODO : Implement this
+}

src/collision/shapes/HeightFieldShape.h

@@ -0,0 +1,167 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2015 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* 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 REACTPHYSICS3D_HEIGHTFIELD_SHAPE_H
+#define REACTPHYSICS3D_HEIGHTFIELD_SHAPE_H
+
+// Libraries
+#include "ConcaveShape.h"
+#include "collision/shapes/TriangleShape.h"
+#include "engine/Profiler.h"
+
+namespace reactphysics3d {
+
+// TODO : Implement raycasting for this shape
+
+// TODO : Implement smooth collision mesh for this shape
+
+// Class HeightFieldShape
+/**
+ * This class represents a static height field that can be used to represent
+ * a terrain.
+ */
+class HeightFieldShape : public ConcaveShape {
+
+    /// Data type for the height data of the height field
+    enum HeightDataType {HEIGHT_FLOAT_TYPE, HEIGHT_DOUBLE_TYPE, HEIGHT_INT_TYPE};
+
+    protected:
+
+        // -------------------- Attributes -------------------- //
+
+        /// Height field width
+        int mWidth;
+
+        /// Height field length
+        int mLength;
+
+        /// Minimum height of the height field
+        decimal mMinHeight;
+
+        /// Maximum height of the height field
+        decimal mMaxHeight;
+
+        /// Up axis direction (0 => x, 1 => y, 2 => z)
+        int mUpAxis;
+
+        /// Data type of the height values
+        HeightDataType mHeightDataType;
+
+        /// Array of data with all the height values of the height field
+        const void*	mHeightFieldData;
+
+        // -------------------- Methods -------------------- //
+
+        /// Private copy-constructor
+        HeightFieldShape(const HeightFieldShape& shape);
+
+        /// Private assignment operator
+        HeightFieldShape& operator=(const HeightFieldShape& shape);
+
+        /// Raycast method with feedback information
+        virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
+        /// Insert all the triangles into the dynamic AABB tree
+        void initBVHTree();
+
+        /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle
+        /// given the start vertex index pointer of the triangle.
+        void getTriangleVerticesWithIndexPointer(int32 subPart, int32 triangleIndex,
+                                                 Vector3* outTriangleVertices) const;
+
+    public:
+
+        /// Constructor
+        HeightFieldShape(int width, int length, int minHeight, int maxHeight,
+                         const void* heightFieldData, HeightDataType dataType, int upAxis = 1);
+
+        /// Destructor
+        ~HeightFieldShape();
+
+        /// Return the local bounds of the shape in x, y and z directions.
+        virtual void getLocalBounds(Vector3& min, Vector3& max) const;
+
+        /// Set the local scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
+        /// Return the local inertia tensor of the collision shape
+        virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
+
+        /// Use a callback method on all triangles of the concave shape inside a given AABB
+        virtual void testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const;
+
+        // ---------- Friendship ----------- //
+
+        friend class ConvexTriangleAABBOverlapCallback;
+        friend class ConcaveMeshRaycastCallback;
+};
+
+// Return the number of bytes used by the collision shape
+inline size_t HeightFieldShape::getSizeInBytes() const {
+    return sizeof(HeightFieldShape);
+}
+
+// Return the local bounds of the shape in x, y and z directions.
+// This method is used to compute the AABB of the box
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
+inline void HeightFieldShape::getLocalBounds(Vector3& min, Vector3& max) const {
+
+    // TODO : Implement this
+}
+
+// Set the local scaling vector of the collision shape
+inline void HeightFieldShape::setLocalScaling(const Vector3& scaling) {
+
+    CollisionShape::setLocalScaling(scaling);
+
+    // TODO : Implement this
+}
+
+// Return the local inertia tensor
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
+inline void HeightFieldShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
+
+    // Default inertia tensor
+    // Note that this is not very realistic for a concave triangle mesh.
+    // However, in most cases, it will only be used static bodies and therefore,
+    // the inertia tensor is not used.
+    tensor.setAllValues(mass, 0, 0,
+                        0, mass, 0,
+                        0, 0, mass);
+}
+
+}
+#endif
+