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Working on HeightFieldShape

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This commit is contained in:
Daniel Chappuis 2016-01-28 23:04:01 +01:00
parent 04e628b61a
commit ece6db9636
2 changed files with 18 additions and 7 deletions
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19
src/collision/shapes/HeightFieldShape.cpp
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@ -29,12 +29,21 @@
using namespace reactphysics3d;
// Constructor
// TODO : Add documentation to this constructor
/**
* @param nbWidthGridPoints Number of grid points along the width of the height field
* @param nbLengthGridPoints Number of grid points along the length of the height field
* @param minHeight Minimum height value of the height field
* @param maxHeight Maximum height value of the height field
* @param heightFieldData Pointer to the first height value data
* @param dataType Data type for the height values (int, float, double)
* @param upAxis Integer representing the up axis direction (0 for x, 1 for y and 2 for z)
* @param integerHeightScale Scaling factor used to scale the height values
*/
HeightFieldShape::HeightFieldShape(int nbWidthGridPoints, int nbLengthGridPoints, decimal minHeight, decimal maxHeight,
const void* heightFieldData, HeightDataType dataType, int upAxis,
decimal integerHeightScale)
: ConcaveShape(CONCAVE_MESH), mNbWidthGridPoints(nbWidthGridPoints), mNbLengthGridPoints(nbLengthGridPoints),
mWidth(nbWidthGridPoints - 1), mLength(nbWidthGridPoints - 1), mMinHeight(minHeight),
mWidth(nbWidthGridPoints - 1), mLength(nbLengthGridPoints - 1), mMinHeight(minHeight),
mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale),
mHeightDataType(dataType) {
@ -94,7 +103,7 @@ void HeightFieldShape::testAllTriangles(TriangleCallback& callback, const AABB&
// Compute the integer grid coordinates inside the area we need to test for collision
int minGridCoords[3];
int maxGridCoords[3];
computeMinMaxGridCoordinates(minGridCoords, maxGridCoords, localAABB);
computeMinMaxGridCoordinates(minGridCoords, maxGridCoords, aabb);
// Compute the starting and ending coords of the sub-grid according to the up axis
int iMin, iMax, jMin, jMax;
@ -156,8 +165,8 @@ void HeightFieldShape::computeMinMaxGridCoordinates(int* minCoords, int* maxCoor
Vector3 minPoint = Vector3::max(aabbToCollide.getMin(), mAABB.getMin());
minPoint = Vector3::min(minPoint, mAABB.getMax());
Vector3 maxPoint = Vector3::max(aabbToCollide.getMax(), mAABB.getMin());
maxPoint = Vector3::min(maxPoint, mAABB.getMax());
Vector3 maxPoint = Vector3::min(aabbToCollide.getMax(), mAABB.getMax());
maxPoint = Vector3::max(maxPoint, mAABB.getMin());
// Translate the min/max points such that the we compute grid points from [0 ... mNbWidthGridPoints]
// and from [0 ... mNbLengthGridPoints] because the AABB coordinates range are [-mWdith/2 ... mWidth/2]

2
src/collision/shapes/HeightFieldShape.h
View File

@ -44,6 +44,8 @@ namespace reactphysics3d {
*/
class HeightFieldShape : public ConcaveShape {
public:
/// Data type for the height data of the height field
enum HeightDataType {HEIGHT_FLOAT_TYPE, HEIGHT_DOUBLE_TYPE, HEIGHT_INT_TYPE};