noahbackus/godot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 2 Wiki Activity

Heightmap collision shape support in Godot Physics

Browse Source
This commit is contained in:
PouleyKetchoupp
2021-03-24 18:49:04 -07:00
parent 9a64d6b2b2
commit c8dd3c7d80
8 changed files with 379 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
modules/bullet/shape_bullet.cpp
View File

@@ -142,7 +142,7 @@ btScaledBvhTriangleMeshShape *ShapeBullet::create_shape_concave(btBvhTriangleMes
}
}
btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
const btScalar ignoredHeightScale(1);
const int YAxis = 1; // 0=X, 1=Y, 2=Z
const bool flipQuadEdges = false;
@@ -480,17 +480,10 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
ERR_FAIL_COND_MSG(l_width < 2, "Map width must be at least 2.");
ERR_FAIL_COND_MSG(l_depth < 2, "Map depth must be at least 2.");
// TODO This code will need adjustments if real_t is set to `double`,
// because that precision is unnecessary for a heightmap and Bullet doesn't support it...
Vector<real_t> l_heights;
Vector<float> l_heights;
Variant l_heights_v = d["heights"];
#ifdef REAL_T_IS_DOUBLE
if (l_heights_v.get_type() == Variant::PACKED_FLOAT64_ARRAY) {
#else
if (l_heights_v.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
#endif
// Ready-to-use heights can be passed
l_heights = l_heights_v;
@@ -511,9 +504,9 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
l_heights.resize(l_image->get_width() * l_image->get_height());
real_t *w = l_heights.ptrw();
float *w = l_heights.ptrw();
const uint8_t *r = im_data.ptr();
real_t *rp = (real_t *)r;
float *rp = (float *)r;
// At this point, `rp` could be used directly for Bullet, but I don't know how safe it would be.
for (int i = 0; i < l_heights.size(); ++i) {
@@ -521,11 +514,7 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
}
} else {
#ifdef REAL_T_IS_DOUBLE
ERR_FAIL_MSG("Expected PackedFloat64Array or float Image.");
#else
ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
#endif
}
ERR_FAIL_COND(l_width <= 0);
@@ -534,11 +523,11 @@ void HeightMapShapeBullet::set_data(const Variant &p_data) {
// Compute min and max heights if not specified.
if (!d.has("min_height") && !d.has("max_height")) {
const real_t *r = l_heights.ptr();
const float *r = l_heights.ptr();
int heights_size = l_heights.size();
for (int i = 0; i < heights_size; ++i) {
real_t h = r[i];
float h = r[i];
if (h < l_min_height) {
l_min_height = h;
@@ -559,7 +548,7 @@ PhysicsServer3D::ShapeType HeightMapShapeBullet::get_type() const {
return PhysicsServer3D::SHAPE_HEIGHTMAP;
}
void HeightMapShapeBullet::setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
void HeightMapShapeBullet::setup(Vector<float> &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
// If this array is resized outside of here, it should be preserved due to CoW