From a66e1af1689c385cc3adae0cf8eef4eb02a61d40 Mon Sep 17 00:00:00 2001 From: Marc Gilleron Date: Tue, 27 Mar 2018 21:45:27 +0200 Subject: [PATCH] Make heightmap shape usable from PhysicsServer - Fixed bad size check - Fixed bad member initialization - Removed unused cell_size (Bullet expects us to use localScaling) - Accept precomputed min/max height, will be calculated if not provided --- modules/bullet/shape_bullet.cpp | 54 ++++++++++++++++++++++++++------- modules/bullet/shape_bullet.h | 7 +++-- 2 files changed, 47 insertions(+), 14 deletions(-) diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp index 5d8d391bd995..3bb257070c60 100644 --- a/modules/bullet/shape_bullet.cpp +++ b/modules/bullet/shape_bullet.cpp @@ -125,14 +125,13 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes } } -btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector &p_heights, int p_width, int p_depth, real_t p_cell_size) { +btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { const btScalar ignoredHeightScale(1); - const btScalar fieldHeight(500); // Meters const int YAxis = 1; // 0=X, 1=Y, 2=Z const bool flipQuadEdges = false; const void *heightsPtr = p_heights.read().ptr(); - return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, -fieldHeight, fieldHeight, YAxis, PHY_FLOAT, flipQuadEdges)); + return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges)); } btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) { @@ -387,19 +386,44 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) { Dictionary d = p_data; ERR_FAIL_COND(!d.has("width")); ERR_FAIL_COND(!d.has("depth")); - ERR_FAIL_COND(!d.has("cell_size")); ERR_FAIL_COND(!d.has("heights")); + real_t l_min_height = 0.0; + real_t l_max_height = 0.0; + + // If specified, min and max height will be used as precomputed values + if (d.has("min_height")) + l_min_height = d["min_height"]; + if (d.has("max_height")) + l_max_height = d["max_height"]; + + ERR_FAIL_COND(l_min_height > l_max_height); + int l_width = d["width"]; int l_depth = d["depth"]; - real_t l_cell_size = d["cell_size"]; PoolVector l_heights = d["heights"]; ERR_FAIL_COND(l_width <= 0); ERR_FAIL_COND(l_depth <= 0); - ERR_FAIL_COND(l_cell_size <= CMP_EPSILON); - ERR_FAIL_COND(l_heights.size() != (width * depth)); - setup(heights, width, depth, cell_size); + ERR_FAIL_COND(l_heights.size() != (l_width * l_depth)); + + // Compute min and max heights if not specified. + if (!d.has("min_height") && !d.has("max_height")) { + + PoolVector::Read r = heights.read(); + int heights_size = heights.size(); + + for (int i = 0; i < heights_size; ++i) { + real_t h = r[i]; + + if (h < l_min_height) + l_min_height = h; + else if (h > l_max_height) + l_max_height = h; + } + } + + setup(l_heights, l_width, l_depth, l_min_height, l_max_height); } Variant HeightMapShapeBullet::get_data() const { @@ -410,8 +434,14 @@ PhysicsServer::ShapeType HeightMapShapeBullet::get_type() const { return PhysicsServer::SHAPE_HEIGHTMAP; } -void HeightMapShapeBullet::setup(PoolVector &p_heights, int p_width, int p_depth, real_t p_cell_size) { +void HeightMapShapeBullet::setup(PoolVector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { + // TODO cell size must be tweaked using localScaling, which is a shared property for all Bullet shapes + { // Copy + + // TODO If Godot supported 16-bit integer image format, we could share the same memory block for heightfields + // without having to copy anything, optimizing memory and loading performance (Bullet only reads and doesn't take ownership of the data). + const int heights_size = p_heights.size(); heights.resize(heights_size); PoolVector::Read p_heights_r = p_heights.read(); @@ -420,14 +450,16 @@ void HeightMapShapeBullet::setup(PoolVector &p_heights, int p_width, int heights_w[i] = p_heights_r[i]; } } + width = p_width; depth = p_depth; - cell_size = p_cell_size; + min_height = p_min_height; + max_height = p_max_height; notifyShapeChanged(); } btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) { - btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size)); + btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, min_height, max_height)); cs->setLocalScaling(p_implicit_scale); prepare(cs); cs->setMargin(p_margin); diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h index 2acba90e36c0..abeea0f9cec7 100644 --- a/modules/bullet/shape_bullet.h +++ b/modules/bullet/shape_bullet.h @@ -85,7 +85,7 @@ public: /// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface(); static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray &p_vertices, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); static class btScaledBvhTriangleMeshShape *create_shape_concave(btBvhTriangleMeshShape *p_mesh_shape, const btVector3 &p_local_scaling = btVector3(1, 1, 1)); - static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector &p_heights, int p_width, int p_depth, real_t p_cell_size); + static class btHeightfieldTerrainShape *create_shape_height_field(PoolVector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); static class btRayShape *create_shape_ray(real_t p_length, bool p_slips_on_slope); }; @@ -199,7 +199,8 @@ public: PoolVector heights; int width; int depth; - real_t cell_size; + real_t min_height; + real_t max_height; HeightMapShapeBullet(); @@ -209,7 +210,7 @@ public: virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0); private: - void setup(PoolVector &p_heights, int p_width, int p_depth, real_t p_cell_size); + void setup(PoolVector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height); }; class RayShapeBullet : public ShapeBullet {