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113 lines
3.6 KiB
C++
113 lines
3.6 KiB
C++
#include "heightfield.hpp"
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#include "mtphysics.hpp"
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#include <components/bullethelpers/heightfield.hpp>
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#include <osg/Object>
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
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#include <LinearMath/btTransform.h>
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#include <type_traits>
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#if BT_BULLET_VERSION < 310
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// Older Bullet versions only support `btScalar` heightfields.
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// Our heightfield data is `float`.
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//
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// These functions handle conversion from `float` to `double` when
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// `btScalar` is `double` (`BT_USE_DOUBLE_PRECISION`).
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namespace
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{
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template <class T>
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auto makeHeights(const T* heights, int verts)
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-> std::enable_if_t<std::is_same<btScalar, T>::value, std::vector<btScalar>>
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{
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return {};
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}
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template <class T>
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auto makeHeights(const T* heights, int verts)
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-> std::enable_if_t<!std::is_same<btScalar, T>::value, std::vector<btScalar>>
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{
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return std::vector<btScalar>(heights, heights + static_cast<std::ptrdiff_t>(verts * verts));
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}
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template <class T>
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auto getHeights(const T* floatHeights, const std::vector<btScalar>&)
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-> std::enable_if_t<std::is_same<btScalar, T>::value, const btScalar*>
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{
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return floatHeights;
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}
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template <class T>
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auto getHeights(const T*, const std::vector<btScalar>& btScalarHeights)
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-> std::enable_if_t<!std::is_same<btScalar, T>::value, const btScalar*>
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{
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return btScalarHeights.data();
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}
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}
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#endif
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namespace MWPhysics
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{
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HeightField::HeightField(const float* heights, int x, int y, int size, int verts, float minH, float maxH,
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const osg::Object* holdObject, PhysicsTaskScheduler* scheduler)
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: mHoldObject(holdObject)
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#if BT_BULLET_VERSION < 310
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, mHeights(makeHeights(heights, verts))
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#endif
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, mTaskScheduler(scheduler)
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{
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#if BT_BULLET_VERSION < 310
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mShape = std::make_unique<btHeightfieldTerrainShape>(
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verts, verts, getHeights(heights, mHeights), 1, minH, maxH, 2, PHY_FLOAT, false);
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#else
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mShape = std::make_unique<btHeightfieldTerrainShape>(verts, verts, heights, minH, maxH, 2, false);
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#endif
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mShape->setUseDiamondSubdivision(true);
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const float scaling = static_cast<float>(size) / static_cast<float>(verts - 1);
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mShape->setLocalScaling(btVector3(scaling, scaling, 1));
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#if BT_BULLET_VERSION >= 289
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// Accelerates some collision tests.
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//
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// Note: The accelerator data structure in Bullet is only used
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// in some operations. This could be improved, see:
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// https://github.com/bulletphysics/bullet3/issues/3276
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mShape->buildAccelerator();
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#endif
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const btTransform transform(
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btQuaternion::getIdentity(), BulletHelpers::getHeightfieldShift(x, y, size, minH, maxH));
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mCollisionObject = std::make_unique<btCollisionObject>();
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mCollisionObject->setCollisionShape(mShape.get());
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mCollisionObject->setWorldTransform(transform);
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mTaskScheduler->addCollisionObject(
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mCollisionObject.get(), CollisionType_HeightMap, CollisionType_Actor | CollisionType_Projectile);
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}
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HeightField::~HeightField()
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{
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mTaskScheduler->removeCollisionObject(mCollisionObject.get());
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}
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btCollisionObject* HeightField::getCollisionObject()
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{
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return mCollisionObject.get();
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}
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const btCollisionObject* HeightField::getCollisionObject() const
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{
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return mCollisionObject.get();
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}
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const btHeightfieldTerrainShape* HeightField::getShape() const
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{
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return mShape.get();
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}
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}
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