org.bytedeco.bullet.BulletCollision

Class btHeightfieldTerrainShape

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionShape

org.bytedeco.bullet.BulletCollision.btConcaveShape

org.bytedeco.bullet.BulletCollision.btHeightfieldTerrainShape

All Implemented Interfaces:

AutoCloseable

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btHeightfieldTerrainShape
extends btConcaveShape

btHeightfieldTerrainShape simulates a 2D heightfield terrain /** The caller is responsible for maintaining the heightfield array; this class does not make a copy.

The heightfield can be dynamic so long as the min/max height values capture the extremes (heights must always be in that range).

The local origin of the heightfield is assumed to be the exact center (as determined by width and length and height, with each axis multiplied by the localScaling).

\b NOTE: be careful with coordinates. If you have a heightfield with a local min height of -100m, and a max height of +500m, you may be tempted to place it at the origin (0,0) and expect the heights in world coordinates to be -100 to +500 meters. Actually, the heights will be -300 to +300m, because bullet will re-center the heightfield based on its AABB (which is determined by the min/max heights). So keep in mind that once you create a btHeightfieldTerrainShape object, the heights will be adjusted relative to the center of the AABB. This is different to the behavior of many rendering engines, but is useful for physics engines.

Most (but not all) rendering and heightfield libraries assume upAxis = 1 (that is, the y-axis is "up"). This class allows any of the 3 coordinates to be "up". Make sure your choice of axis is consistent with your rendering system.

The heightfield heights are determined from the data type used for the heightfieldData array.

- unsigned char: height at a point is the uchar value at the grid point, multipled by heightScale. uchar isn't recommended because of its inability to deal with negative values, and low resolution (8-bit).

- short: height at a point is the short int value at that grid point, multipled by heightScale.

- float or dobule: height at a point is the value at that grid point.

Whatever the caller specifies as minHeight and maxHeight will be honored. The class will not inspect the heightfield to discover the actual minimum or maximum heights. These values are used to determine the heightfield's axis-aligned bounding box, multiplied by localScaling.

For usage and testing see the TerrainDemo.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	btHeightfieldTerrainShape.Range

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, byte[] heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, ByteBuffer heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, BytePointer heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, double[] heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, DoubleBuffer heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, DoublePointer heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, float[] heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, FloatBuffer heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, FloatPointer heightfieldData, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges) preferred constructors
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, Pointer heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, int heightDataType, boolean flipQuadEdges) legacy constructor /** This constructor supports a range of heightfield data types, and allows for a non-zero minimum height value.
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, Pointer heightfieldData, double maxHeight, int upAxis, boolean useFloatData, boolean flipQuadEdges) legacy constructor /** The legacy constructor assumes the heightfield has a minimum height of zero.
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, short[] heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, ShortBuffer heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, ShortPointer heightfieldData, double heightScale, double minHeight, double maxHeight, int upAxis, boolean flipQuadEdges)
btHeightfieldTerrainShape(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
void	buildAccelerator()
void	buildAccelerator(int chunkSize)
void	calculateLocalInertia(double mass, btVector3 inertia)
void	clearAccelerator()
void	getAabb(btTransform t, btVector3 aabbMin, btVector3 aabbMax) getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
BytePointer	getHeightfieldRawData()
btVector3	getLocalScaling()
BytePointer	getName()
btTriangleInfoMap	getTriangleInfoMap()
int	getUpAxis()
double	getUserValue3()
void	getVertex(int x, int y, btVector3 vertex)
void	performRaycast(btTriangleCallback callback, btVector3 raySource, btVector3 rayTarget)
void	processAllTriangles(btTriangleCallback callback, btVector3 aabbMin, btVector3 aabbMax)
void	setFlipTriangleWinding(boolean flipTriangleWinding)
void	setLocalScaling(btVector3 scaling)
void	setTriangleInfoMap(btTriangleInfoMap map)
void	setUseDiamondSubdivision()
void	setUseDiamondSubdivision(boolean useDiamondSubdivision)
void	setUserValue3(double value)
void	setUseZigzagSubdivision()
void	setUseZigzagSubdivision(boolean useZigzagSubdivision) could help compatibility with Ogre heightfields.

Methods inherited from class org.bytedeco.bullet.BulletCollision.btConcaveShape

getMargin, setMargin

Methods inherited from class org.bytedeco.bullet.BulletCollision.btCollisionShape

calculateSerializeBufferSize, calculateTemporalAabb, getAngularMotionDisc, getAnisotropicRollingFrictionDirection, getBoundingSphere, getBoundingSphere, getBoundingSphere, getContactBreakingThreshold, getShapeType, getUserIndex, getUserIndex2, getUserPointer, isCompound, isConcave, isConvex, isConvex2d, isInfinite, isNonMoving, isPolyhedral, isSoftBody, serialize, serializeSingleShape, setUserIndex, setUserIndex2, setUserPointer

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 FloatPointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

preferred constructors

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 FloatBuffer heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 float[] heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 DoublePointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 DoubleBuffer heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 double[] heightfieldData,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 ShortPointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 ShortBuffer heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 short[] heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Cast(value="const unsigned char*")
                                 BytePointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Cast(value="const unsigned char*")
                                 ByteBuffer heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Cast(value="const unsigned char*")
                                 byte[] heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 Pointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double heightScale,
                                 @Cast(value="btScalar")
                                 double minHeight,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="PHY_ScalarType")
                                 int heightDataType,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

legacy constructor /** This constructor supports a range of heightfield data types, and allows for a non-zero minimum height value. heightScale is needed for any integer-based heightfield data types.

This legacy constructor considers PHY_FLOAT to mean btScalar. With BT_USE_DOUBLE_PRECISION, it will expect heightfieldData to be double-precision.

btHeightfieldTerrainShape

public btHeightfieldTerrainShape(int heightStickWidth,
                                 int heightStickLength,
                                 @Const
                                 Pointer heightfieldData,
                                 @Cast(value="btScalar")
                                 double maxHeight,
                                 int upAxis,
                                 @Cast(value="bool")
                                 boolean useFloatData,
                                 @Cast(value="bool")
                                 boolean flipQuadEdges)

legacy constructor /** The legacy constructor assumes the heightfield has a minimum height of zero. Only unsigned char or btScalar data are supported. For legacy compatibility reasons, heightScale is calculated as maxHeight / 65535 (and is only used when useFloatData = false).

Method Detail

setUseDiamondSubdivision

public void setUseDiamondSubdivision(@Cast(value="bool")
                                     boolean useDiamondSubdivision)

setUseDiamondSubdivision

public void setUseDiamondSubdivision()

setUseZigzagSubdivision

public void setUseZigzagSubdivision(@Cast(value="bool")
                                    boolean useZigzagSubdivision)

could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625

setUseZigzagSubdivision

public void setUseZigzagSubdivision()

setFlipTriangleWinding

public void setFlipTriangleWinding(@Cast(value="bool")
                                   boolean flipTriangleWinding)

getAabb

public void getAabb(@Const @ByRef
                    btTransform t,
                    @ByRef
                    btVector3 aabbMin,
                    @ByRef
                    btVector3 aabbMax)

Description copied from class: btCollisionShape

getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.

Overrides:

getAabb in class btCollisionShape

processAllTriangles

public void processAllTriangles(btTriangleCallback callback,
                                @Const @ByRef
                                btVector3 aabbMin,
                                @Const @ByRef
                                btVector3 aabbMax)

Overrides:

processAllTriangles in class btConcaveShape

calculateLocalInertia

public void calculateLocalInertia(@Cast(value="btScalar")
                                  double mass,
                                  @ByRef
                                  btVector3 inertia)

Overrides:

calculateLocalInertia in class btCollisionShape

setLocalScaling

public void setLocalScaling(@Const @ByRef
                            btVector3 scaling)

Overrides:

setLocalScaling in class btCollisionShape

getLocalScaling

@Const
 @ByRef
public btVector3 getLocalScaling()

Overrides:

getLocalScaling in class btCollisionShape

getVertex

public void getVertex(int x,
                      int y,
                      @ByRef
                      btVector3 vertex)

performRaycast

public void performRaycast(btTriangleCallback callback,
                           @Const @ByRef
                           btVector3 raySource,
                           @Const @ByRef
                           btVector3 rayTarget)

buildAccelerator

public void buildAccelerator(int chunkSize)

buildAccelerator

public void buildAccelerator()

clearAccelerator

public void clearAccelerator()

getUpAxis

public int getUpAxis()

getName

@Cast(value="const char*")
public BytePointer getName()

Overrides:

getName in class btCollisionShape

setUserValue3

public void setUserValue3(@Cast(value="btScalar")
                          double value)

getUserValue3

@Cast(value="btScalar")
public double getUserValue3()

getTriangleInfoMap

public btTriangleInfoMap getTriangleInfoMap()

setTriangleInfoMap

public void setTriangleInfoMap(btTriangleInfoMap map)

getHeightfieldRawData

@Cast(value="const unsigned char*")
public BytePointer getHeightfieldRawData()