/**
* Method is used to add heightfield actor to physics scene.
* @param entity is actor logic object.
* @param heightData is terrain height map data.
* @param params is terrain parameters: heightmap size, row/column scale, max. height.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addHeightFieldActor(SceneEntity* entity, unsigned char* heightData, const Vector4D& params, PxU32 filterGroup, PxU32 filterMask)
{
int terrainSize = static_cast<int>(params.x());
PxHeightFieldSample* samples = new PxHeightFieldSample[terrainSize*terrainSize];
PxHeightFieldDesc descriptor;
descriptor.nbColumns = static_cast<int>(terrainSize);
descriptor.nbRows = static_cast<int>(terrainSize);
for(int i = 0; i < terrainSize*terrainSize; ++i)
samples[i].height = static_cast<PxI16>(heightData[i]);
descriptor.samples.data = samples;
descriptor.samples.stride = sizeof(PxHeightFieldSample);
PxHeightField* heightField = physicsSDK->createHeightField(descriptor);
PxHeightFieldGeometry geometry(heightField, PxMeshGeometryFlags(),params.w()*0.00390625f,params.y(),params.z());
PxTransform transformation = PxTransform(PxVec3(-terrainSize*0.5f*params.y(),0.0f,-terrainSize*0.5f*params.z()),PxQuat::createIdentity());
PxRigidStatic* heightFieldActor = physicsSDK->createRigidStatic(transformation);
PxShape* aHeightFieldShape = heightFieldActor->createShape(geometry,*materials[0].second);
heightFieldActor->setName(entity->entityName.c_str());
setupFiltering(heightFieldActor,filterGroup,filterMask);
scene->addActor(*heightFieldActor);
StaticActor* s = new StaticActor();
s->entityLogic = entity;
s->entityPhysics = heightFieldActor;
staticActors.push_back(s);
}
void PhysXHeightfield::InitHeightfield(PxPhysics* physics, PxScene* scene, const char* filename)
{
float xScale = 0.0025f;
float yScale = 0.0025f;
float zScale = 10.00f;
// NOTE: Assuming that heightfield texture has B8G8R8A8 format.
if(LoadHeightfield(filename))
{
PxU16 nbColumns = PxU16(mHeightfield.width);
PxU16 nbRows = PxU16(mHeightfield.height);
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.format = PxHeightFieldFormat::eS16_TM;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
heightFieldDesc.samples.data = mHeightfield.data;
heightFieldDesc.samples.stride = sizeof(PxHeightFieldSample);
//heightFieldDesc.convexEdgeThreshold = 0;
PxHeightField* heightField = physics->createHeightField(heightFieldDesc);
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*yScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*xScale) / 2.0f),
PxQuat::createIdentity());
// PxTransform pose = PxTransform::createIdentity();
pose.p = PxVec3(-((nbColumns/2)*xScale),0.0,-((nbColumns/2)*xScale));
PxRigidActor* hf = physics->createRigidStatic(pose);
if(!hf)
return;
const PxMaterial* mMat = physics->createMaterial(0.9f, 0.9f, 0.001f);
//PxShape* shape = hf->createShape((PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), yScale, xScale, xScale)), *mMat);
//PxHeightFieldGeometry hfGeom(heightField, PxMeshGeometryFlags(), heightScale, rowScale, colScale);
//PxShape* aHeightFieldShape = aHeightFieldActor->createShape(hfGeom, aMaterialArray, nbMaterials);
PxHeightFieldGeometry hfGeom(heightField, PxMeshGeometryFlags(), yScale, xScale, xScale);
PxShape* hfShape = hf->createShape(hfGeom, *mMat);
if(!hfShape)
return;
//shape->setFlag(PxShapeFlag::ePARTICLE_DRAIN, false);
//shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
//shape->setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS, true);
// add actor to the scene
scene->addActor(*hf);
}
}
