/// one-time class and physics initialization
void Terrain::initialize(void)
{
// std::cerr << "initializing...\n";
/* This code is inside cPhysics class */
// set up basic state
/* m_upAxis = 1; // start with Y-axis as "up"
m_type = PHY_FLOAT;
m_model = eRadial;//eFractal;
m_isDynamic = true;
// set up the physics world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// initialize axis- or type-dependent physics from here
this->resetPhysics(); */
clearWorld();
// get new heightfield of appropriate type
m_rawHeightfieldData = getRawHeightfieldData(eRadial, PHY_FLOAT, m_minHeight, m_maxHeight);
bool flipQuadEdges = false; // width, height, *heightmapData, scale, minHeight, maxHeight, upAxis, heightMapDatatype, flipQuadEdges
btHeightfieldTerrainShape * heightfieldShape = new btHeightfieldTerrainShape(s_gridSize, s_gridSize, m_rawHeightfieldData, s_gridHeightScale, m_minHeight, m_maxHeight, m_upAxis, PHY_FLOAT, flipQuadEdges);
assert(heightfieldShape);
// scale the shape
btVector3 localScaling = getUpVector(m_upAxis, s_gridSpacing, 1.0);
heightfieldShape->setLocalScaling(localScaling);
// stash this shape away
cPhysics::Get().getCollisionShapes().push_back(heightfieldShape);
//m_collisionShapes.push_back(heightfieldShape);
// set origin to middle of heightfield
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-20,0));
// create ground object
float mass = 0.0;
//localCreateRigidBody(mass, tr, heightfieldShape);
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btRigidBody* body = cPhysics::Get().GetNewBody(heightfieldShape, mass, cVec3(0, -20, 0));
}
/// called whenever key terrain attribute is changed
void TerrainDemo::resetPhysics(void)
{
// remove old heightfield
clearWorld();
// reset gravity to point in appropriate direction
m_dynamicsWorld->setGravity(getUpVector(m_upAxis, 0.0, -s_gravity));
// get new heightfield of appropriate type
m_rawHeightfieldData =
getRawHeightfieldData(m_model, m_type, m_minHeight, m_maxHeight);
btAssert(m_rawHeightfieldData && "failed to create raw heightfield");
bool flipQuadEdges = false;
btHeightfieldTerrainShape * heightfieldShape =
new btHeightfieldTerrainShape(s_gridSize, s_gridSize,
m_rawHeightfieldData,
s_gridHeightScale,
m_minHeight, m_maxHeight,
m_upAxis, m_type, flipQuadEdges);
btAssert(heightfieldShape && "null heightfield");
// scale the shape
btVector3 localScaling = getUpVector(m_upAxis, s_gridSpacing, 1.0);
heightfieldShape->setLocalScaling(localScaling);
// stash this shape away
m_collisionShapes.push_back(heightfieldShape);
// set origin to middle of heightfield
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-20,0));
// create ground object
float mass = 0.0;
localCreateRigidBody(mass, tr, heightfieldShape);
}
