99 lines
3.1 KiB
C++
99 lines
3.1 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/common/Exception.hh"
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#include "gazebo/common/Assert.hh"
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#include "gazebo/physics/bullet/bullet_inc.h"
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#include "gazebo/physics/bullet/BulletTypes.hh"
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#include "gazebo/physics/bullet/BulletLink.hh"
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#include "gazebo/physics/bullet/BulletMotionState.hh"
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#include "gazebo/physics/bullet/BulletCollision.hh"
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#include "gazebo/physics/bullet/BulletHeightmapShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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BulletHeightmapShape::BulletHeightmapShape(CollisionPtr _parent)
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: HeightmapShape(_parent)
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{
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// Bullet need the height values flipped in the y direction
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this->flipY = true;
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}
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//////////////////////////////////////////////////
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BulletHeightmapShape::~BulletHeightmapShape()
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{
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}
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//////////////////////////////////////////////////
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void BulletHeightmapShape::Init()
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{
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HeightmapShape::Init();
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float maxHeight = this->GetMaxHeight();
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float minHeight = this->GetMinHeight();
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// This will force the Z-axis to be up
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int upIndex = 2;
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btVector3 localScaling(this->scale.x, this->scale.y, 1.0);
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this->heightFieldShape = new btHeightfieldTerrainShape(
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this->vertSize, // # of heights along width
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this->vertSize, // # of height along height
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&this->heights[0], // The heights
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1, // Height scaling
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minHeight, // Min height
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maxHeight, // Max height
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upIndex, // Up axis
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PHY_FLOAT,
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false); // Flip quad edges
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this->heightFieldShape->setLocalScaling(localScaling);
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// This is suppose to match up with Ogre rendering a bit better.
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this->heightFieldShape->setUseZigzagSubdivision(true);
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// Get a pointer to the parent collision
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BulletCollisionPtr bParent;
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bParent = boost::dynamic_pointer_cast<BulletCollision>(this->collisionParent);
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GZ_ASSERT(bParent != NULL, "Bullet collision parent of a heightmap is NULL");
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bParent->SetCollisionShape(this->heightFieldShape, false);
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btVector3 min, max;
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this->heightFieldShape->getAabb(btTransform::getIdentity(), min, max);
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BulletLinkPtr bLink = boost::dynamic_pointer_cast<BulletLink>(
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bParent->GetParent());
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GZ_ASSERT(bLink != NULL, "Bullet heightmap does not have a link.");
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BulletMotionStatePtr motionState = bLink->motionState;
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GZ_ASSERT(motionState != NULL, "Invalid motion state for heightmap.");
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0, 0, (maxHeight - minHeight) * 0.5));
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// Set the transform for the heightmap.
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motionState->setWorldTransform(tr);
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}
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