Method HeightField

testbed/common/HeightField.cpp:31–70

Constructor

// Constructor
HeightField::HeightField(reactphysics3d::BodyType type, bool isSimulationCollider, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld)
           : PhysicsObject(physicsCommon), mPhysicsWorld(physicsWorld), mVBOVertices(GL_ARRAY_BUFFER),
             mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
             mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {

    // Compute the scaling matrix
    mScalingMatrix = openglframework::Matrix4(0.5, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 1);

    // Generate the height field
    generateHeightField();

    // Generate the graphics mesh
    generateGraphicsMesh();

    // Create the collision shape for the rigid body (convex mesh shape) and
    // do not forget to delete it at the end
    std::vector<rp3d::Message> messages;
    mHeightField = mPhysicsCommon.createHeightField(NB_POINTS_WIDTH, NB_POINTS_LENGTH,
                                                    mHeightData, rp3d::HeightField::HeightDataType::HEIGHT_FLOAT_TYPE,
                                                    messages);
    assert(mHeightField != nullptr);
    mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(mHeightField);
    mHeightFieldShape->setScale(rp3d::Vector3(0.5, 0.5, 0.5));

    mPreviousTransform = rp3d::Transform::identity();

    // Create a body
    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
    body->setType(type);
    body->setIsDebugEnabled(true);
    mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity());
    mCollider->setIsSimulationCollider(isSimulationCollider);
    body->updateMassPropertiesFromColliders();
    mBody = body;

    // Create the VBOs and VAO
    createVBOAndVAO();

    mTransformMatrix = mTransformMatrix * mScalingMatrix;
}

// Destructor
HeightField::~HeightField() {