HeightMapCollider::HeightMapCollider (csBulletDynamicsSystem* dynSys,
iBody* csBody,
csLockedHeightData gridData,
int gridWidth, int gridHeight,
csVector3 gridSize,
csOrthoTransform transform,
float minimumHeight, float maximumHeight)
: dynSys (dynSys)
{
// Check if the min/max have to be computed
bool needExtremum = minimumHeight == 0.0f && maximumHeight == 0.0f;
if (needExtremum)
minimumHeight = maximumHeight = gridData.data[0];
// Initialize the terrain height data
heightData = new float[gridHeight * gridWidth];
for (int i = 0; i < gridWidth; i++)
for (int j = 0; j < gridHeight; j++)
{
float height = heightData[(gridWidth - i - 1) * gridWidth + j]
= gridData.data[i * gridWidth + j];
if (needExtremum)
{
minimumHeight = MIN (minimumHeight, height);
maximumHeight = MAX (maximumHeight, height);
}
}
// Create the terrain shape
shape = new btHeightfieldTerrainShape (gridWidth, gridHeight,
heightData, 1.0f, minimumHeight, maximumHeight,
1, PHY_FLOAT, false);
// Apply the local scaling on the shape
btVector3 localScale (gridSize[0] * dynSys->internalScale / (gridWidth - 1),
dynSys->internalScale,
gridSize[2] * dynSys->internalScale / (gridHeight - 1));
shape->setLocalScaling (localScale);
// Set the origin to the middle of the heightfield
csVector3 offset (gridSize[0] * 0.5f,
(maximumHeight - minimumHeight) * 0.5f + minimumHeight,
gridSize[2] * 0.5f);
transform.SetOrigin (transform.GetOrigin () + transform.This2OtherRelative (offset));
btTransform tr = CSToBullet (transform, dynSys->internalScale);
// Create the rigid body and add it to the world
body = new btRigidBody (0, 0, shape, btVector3 (0, 0, 0));
body->setWorldTransform (tr);
body->setUserPointer (csBody);
dynSys->bulletWorld->addRigidBody (body);
}
void CollisionMesh::FullUpdate()
{
assert(m_parent);
// Modify the scale of the collision mesh
// depending on the parent scale
D3DXVECTOR3 scale(FindLocalScale());
D3DXVECTOR3 localScale(m_localWorld.GetScale());
if(scale != localScale)
{
LoadCollisionModel(scale);
}
//DirectX: World = LocalWorld * ParentWorld
m_positionDelta += m_parent->Position() - m_world.Position();
m_world.Set(m_localWorld.GetMatrix()*m_parent->GetMatrix());
m_position = m_world.Position();
m_requiresFullUpdate = true;
}