dNewtonCollisionHeightField::dNewtonCollisionHeightField(dNewtonWorld* const world, const dFloat* const elevations, int resolution, dVector scale)
:dNewtonCollision(world, 0)
{
char* const attibute = new char[resolution * resolution];
memset(attibute, 0, sizeof(char) * resolution * resolution);
dFloat scaleFactor = 1.0f / (resolution - 1);
NewtonCollision* const shape = NewtonCreateHeightFieldCollision(
m_myWorld->m_world, resolution, resolution, 1, 0, elevations, attibute, 1.0f, scale.m_x * scaleFactor, scale.m_z * scaleFactor, 0);
delete[] attibute;
SetShape(shape);
}
void AddCollisionHeightFieldMesh(DemoEntityManager* const scene)
{
int size = 101;
dFloat* const elevation = new dFloat[size * size];
//y = a * sin(x)* (sin (z)) ^2
for (int i = 0; i < size; i ++) {
dFloat z = 3.1416f * i / (size - 1);
dFloat z2 = dSin (z);
z2 = z2 * z2 * 5.0f;
for (int j = 0; j < size; j ++) {
dFloat x = 3.1416f * j / (size - 1);
dFloat y = z2 * dSin(x);
elevation[j * size + i] = y;
}
}
dFloat cellsize = 0.25f;
DemoMesh* const mesh = new DemoMesh ("terrain", elevation, size, cellsize, 1.0f/16.0f, size - 1);
int width = size;
int height = size;
char* const attibutes = new char [size * size];
memset (attibutes, 0, width * height * sizeof (char));
NewtonCollision* const collision = NewtonCreateHeightFieldCollision (scene->GetNewton(), width, height, 1, 0, elevation, attibutes, 1.0f, cellsize, 0);
void* const proxy = NewtonSceneCollisionAddSubCollision (m_sceneCollision, collision);
NewtonDestroyCollision(collision);
// set the parameter on the added collision share
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit.m_y = -2.0f;
matrix.m_posit.m_x = -15.0f;
matrix.m_posit.m_z = -10.0f;
NewtonCollision* const terrainCollision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxy );
NewtonSceneCollisionSetSubCollisionMatrix (m_sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(terrainCollision, mesh);
delete[] elevation;
delete[] attibutes;
}
static NewtonBody* CreateHeightFieldTerrain (DemoEntityManager* const scene, int sizeInPowerOfTwos, dFloat cellSize, dFloat elevationScale, dFloat roughness, dFloat maxElevation, dFloat minElevation)
{
int size = (1 << sizeInPowerOfTwos) + 1 ;
dFloat* const elevation = new dFloat [size * size];
//MakeFractalTerrain (elevation, sizeInPowerOfTwos, elevationScale, roughness, maxElevation, minElevation);
MakeFractalTerrain (elevation, sizeInPowerOfTwos, elevationScale, roughness, maxElevation, minElevation);
for (int i = 0; i < 4; i ++) {
ApplySmoothFilter (elevation, size);
}
//memset (elevation, 0, size * size * sizeof (dFloat));
//SetBaseHeight (elevation, size);
// apply simple calderas
// MakeCalderas (elevation, size, maxElevation * 0.7f, maxElevation * 0.1f);
// // create the visual mesh
DemoMesh* const mesh = new DemoMesh ("terrain", elevation, size, cellSize, 1.0f/4.0f, TILE_SIZE);
DemoEntity* const entity = new DemoEntity(dGetIdentityMatrix(), NULL);
scene->Append (entity);
entity->SetMesh(mesh, dGetIdentityMatrix());
mesh->Release();
// create the height field collision and rigid body
// create the attribute map
int width = size;
int height = size;
char* const attibutes = new char [size * size];
memset (attibutes, 0, width * height * sizeof (char));
NewtonCollision* collision = NewtonCreateHeightFieldCollision (scene->GetNewton(), width, height, 1, 0, elevation, attibutes, 1.0f, cellSize, 0);
#ifdef USE_STATIC_MESHES_DEBUG_COLLISION
NewtonStaticCollisionSetDebugCallback (collision, ShowMeshCollidingFaces);
#endif
NewtonCollisionInfoRecord collisionInfo;
// keep the compiler happy
memset (&collisionInfo, 0, sizeof (NewtonCollisionInfoRecord));
NewtonCollisionGetInfo (collision, &collisionInfo);
width = collisionInfo.m_heightField.m_width;
height = collisionInfo.m_heightField.m_height;
//elevations = collisionInfo.m_heightField.m_elevation;
dVector boxP0;
dVector boxP1;
// get the position of the aabb of this geometry
dMatrix matrix (entity->GetCurrentMatrix());
NewtonCollisionCalculateAABB (collision, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
//SetMatrix (matrix);
entity->ResetMatrix (*scene, matrix);
// create the terrainBody rigid body
NewtonBody* const terrainBody = NewtonCreateDynamicBody(scene->GetNewton(), collision, &matrix[0][0]);
// release the collision tree (this way the application does not have to do book keeping of Newton objects
NewtonDestroyCollision (collision);
// in newton 300 collision are instance, you need to ready it after you create a body, if you want to male call on the instance
collision = NewtonBodyGetCollision(terrainBody);
#if 0
// uncomment this to test horizontal displacement
unsigned short* const horizontalDisplacemnet = new unsigned short[size * size];
for (int i = 0; i < size * size; i++) {
horizontalDisplacemnet[i] = dRand();
}
NewtonHeightFieldSetHorizontalDisplacement(collision, horizontalDisplacemnet, 0.02f);
delete horizontalDisplacemnet;
#endif
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (terrainBody, entity);
// set the global position of this body
// NewtonBodySetMatrix (m_terrainBody, &matrix[0][0]);
// set the destructor for this object
//NewtonBodySetDestructorCallback (terrainBody, Destructor);
// get the position of the aabb of this geometry
//NewtonCollisionCalculateAABB (collision, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
#ifdef USE_TEST_ALL_FACE_USER_RAYCAST_CALLBACK
// set a ray cast callback for all face ray cast
NewtonTreeCollisionSetUserRayCastCallback (collision, AllRayHitCallback);
dVector p0 (0, 100, 0, 0);
dVector p1 (0, -100, 0, 0);
dVector normal;
dLong id;
dFloat parameter;
parameter = NewtonCollisionRayCast (collision, &p0[0], &p1[0], &normal[0], &id);
#endif
delete[] attibutes;
delete[] elevation;
return terrainBody;
}
