A HeightField is a collision shape that can be created from a grid structure, like an image. More...

#include <HeightField.h>

Inheritance diagram for agxCollide::HeightField:

Public Member Functions
	HeightField (size_t resolutionX, size_t resolutionY, agx::Real sizeX, agx::Real sizeY, agx::Real bottomMargin=agx::Real(1))
	Constructor for the HeightField class.

	HeightField (size_t resolutionX, size_t resolutionY, agx::Real sizeX, agx::Real sizeY, const agx::RealVector &heights, bool flipY=false, agx::Real bottomMargin=agx::Real(1))
	Constructor for the HeightField class.

void	calculateMassProperties ()
	Calculates "mass properties" such as volume, unscaled inertia tensor and center.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agx::UInt32Vector &triangleIndices) const override
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agxData::LocalVector< agx::UInt32 > &triangleIndices) const override
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

void	calculateVertexCoordinates (size_t vertexIndex, size_t &vertexIndexX, size_t &vertexIndexY) const
	Calculates the vertex indices for x and y given a global vertex index.

bool	calculateVertexIndicesTouchedByAABB (const BoundingAABB &volume, const agx::AffineMatrix4x4 &meshToWorld, const agx::AffineMatrix4x4 &volumeToWorld, agx::Vec2i &gridMin, agx::Vec2i &gridMax) const
	Calculates the minimum and maximum vertex indices of the square that a bounding box resides in.

virtual Shape *	clone () const override
	Create a clone.

HeightField *	deepCopy () const
	Creates a new HeightField which copies data from this one.

bool	getDynamic () const
	Return if the HeightField is dynamic, which means if it should keep its MassProperties updated.

agx::Real	getHeight (size_t x, size_t y) const
	Gets the height at a grid point.

const HeightFieldMeshData *	getHeightFieldMeshData () const

agx::Real	getMaxHeight () const
	Returns the (global) maximum height of the HeightField.

agx::Real	getMinAllowedHeight () const
	Returns the minimum allowed height, which is at the same time the lower bound for a dynamic HeightField (for volume computation).

agx::Real	getMinHeight () const
	Returns the (global) minimum height of the HeightField.

size_t	getResolutionX () const
	Returns the resolution (the number of height values) in dimension x.

size_t	getResolutionY () const
	Returns the resolution (the number of height values) in dimension y.

agx::Vec2	getScale () const
	Returns the scaling factor for a single cell in the HeightField (in dimension x and y).

agx::Vec2	getSize () const
	Returns the size of the HeightField (in dimension x and y).

Mesh::Triangle	getTriangleFromPoint (const agx::Vec3 &point) const
	Returns a triangle given the 2D-projection of a point on the xy-plane in the grid.

size_t	getTriangleIndex (size_t indexX, size_t indexY, uint_fast8_t upper) const
	Computes the global triangle index within the HeightField.

agx::Vec3	getVertexFromGrid (size_t xIndex, size_t yIndex) const
	Returns the vertex at a grid position.

agx::Vec2	projectPointToGrid (const agx::Vec3 &point) const
	Projects a point in local HeightField coordinate system to the HeightField grid (which is moved to the first quadrant).

void	setDynamic (bool dynamic)
	Sets if the HeightField is dynamic, which means if it should keep its MassProperties updated.

void	setHeight (size_t xIndex, size_t yIndex, agx::Real height)
	Sets the height at a specific grid node.

void	setHeights (const agx::RealVector &heights, bool flipY=false)
	Set height values of all sampled points.

bool	setHeights (const agx::RealVector &heights, size_t minVertexX, size_t maxVertexX, size_t minVertexY, size_t maxVertexY)
	Set height values of all grid nodes within a rectangle.

void	setHeightsFromList (const agx::Vec2uVector &indices, const agx::RealVector &heights)
	Set height values given a list of terrain indices and corresponding heights.

void	setMinAllowedHeight (agx::Real minAllowedHeight)
	Sets the new minAllowedHeight, which is at the same time the lower bound for a dynamic HeightField (for volume computation).

HeightField *	shallowCopy () const
	Creates a new HeightField which shares data with this one.

Public Member Functions inherited from agxCollide::Mesh
virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const override
	Returns the inertia of the shape, scaled with the mass. Inherited from class Shape.

virtual BoundingAABB	calculateLocalBound () const override
	Calculate the bounding volume in the local coordinate system.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agx::UInt32Vector &triangleIndices) const =0
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

virtual void	calculatePossibleTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, agxData::LocalVector< agx::UInt32 > &triangleIndices) const =0
	Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

void	calculateTriangleOverlapsAlongLineSegment (const agx::Vec3 &segmentStartLocal, const agx::Vec3 &segmentEndLocal, TriangleLineSegmentResultVector &triangleResults) const
	Calculates all triangle overlaps of a line segment with the mesh.

void	calculateTrianglesInVolume (const BoundingAABB &volume, const agx::AffineMatrix4x4 &meshToWorld, const agx::AffineMatrix4x4 &volumeToWorld, agx::UInt32Vector &triangleIndices) const
	Calculates an array of triangle indices of the triangles that are within a bounding volume.

void	calculateTrianglesInVolume (const BoundingAABB &volume, const agx::AffineMatrix4x4 &meshToWorld, const agx::AffineMatrix4x4 &volumeToWorld, agxData::LocalVector< agx::UInt32 > &triangleIndices) const

FaceEdgeCirculator	createFaceEdgeCirculator (size_t triangleIndex) const
	Creates an FaceEdgeCirculator pointing to this Triangle and a Voronoi region.

VertexEdgeCirculator	createVertexEdgeCirculator (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Creates an VertexEdgeCirculator pointing to this Triangle and a Voronoi region.

agx::Real	getBottomMargin () const

const AabbTree *	getBvhTree () const

virtual agx::Vec3	getCenter () const override

size_t	getGlobalVertexIndex (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Returns the global index of one of the three vertices in a triangle.

uint32_t	getHalfEdgePartnerEdge (size_t globalEdgeIndex) const

const BoundingAABB &	getLocalBound () const

const CollisionMeshData *	getMeshData () const

size_t	getNumTriangles () const

size_t	getNumVertices () const

agx::Real	getTotalMaximumEdgeLength () const

const Triangle	getTriangle (size_t triangleIndex) const

agx::Real	getTriangleMaximumEdgeLength (size_t triangleIndex) const

agx::Vec3	getTriangleNormal (size_t triangleIndex) const

agx::Vec3	getTriangleVertex (size_t triangleIndex, uint_fast8_t localVertexIndex) const
	Returns one of the three vertices in a triangle.

agx::Vec3	getVertex (size_t globalVertexIndex) const

virtual agx::Real	getVolume () const override

bool	hasHalfEdge () const

bool	hasInternalCenterPoint () const

bool	isConvexEdge (size_t globalEdgeIndex) const
	Is an edge convex? Returns always true if half edge information is missing on this edge/the whole mesh.

bool	isConvexVertex (size_t triangleIndex, size_t localVertexIndex) const
	Is an vertex convex? Returns always true if half edge information is missing on this vertex/the whole mesh.

bool	isTerrain () const

bool	isValid () const

bool	isValidAndClosed () const

bool	isValidEdgeIndex (size_t globalEdgeIndex) const

bool	isValidTriangleIndex (size_t globalTriangleIndex) const

void	setBottomMargin (agx::Real newMargin)
	Sets the depth that is added below the lowest point in the terrain in local z direction, to prevent tunneling in this direction.

virtual const BoundingAABB &	updateBoundingVolume () override
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agxCollide::Shape
ShapeGroup *	asGroup ()
	Auto-cast shape to group.

const ShapeGroup *	asGroup () const
	Auto-cast shape to group.

virtual agx::Real	calculateBoundingRadius (BoundingAABB &localAABB) const
	Calculate the bounding volume (AABB) into `localAABB` and calculate the bounding radius based on the new AABB size.

virtual agx::SPDMatrix3x3	calculateInertia (agx::Real mass) const =0
	Calculate the inertia for the shape given a mass.

virtual BoundingAABB	calculateLocalBound () const =0
	Calculate the bounding volume in the local coordinate system.

virtual Shape *	clone () const
	Create a clone.

const BoundingAABB &	getBoundingVolume () const

virtual agx::Vec3	getCenter () const

agx::Physics::Geometry::ShapePtr	getEntity () const

Geometry *	getGeometry ()

const Geometry *	getGeometry () const

agx::AffineMatrix4x4	getLocalTransform () const

agx::UInt32	getModifiedCount () const

agxCollide::RenderData *	getRenderData ()

const agxCollide::RenderData *	getRenderData () const
	If this is a ShapeGroup, then this method will return nullptr as the render data is stored in the actual children (Box, Mesh etc.

virtual agx::Vec3	getSupportPoint (const agx::Vec3 &supportDirection) const
	Returns the support point on face of the shape.

agx::AffineMatrix4x4	getTransform () const

agx::UInt8	getType () const

const char *	getTypeName () const

virtual agx::Real	getVolume () const =0
	Return the volume of the shape.

virtual bool	hasSupportFunction () const

bool	isGroup () const

virtual void	propagateTransform (const agx::AffineMatrix4x4 &transform)

virtual void	setRenderData (agxCollide::RenderData *renderData)
	Store render data with the Shape.

virtual const BoundingAABB &	updateBoundingVolume ()=0
	Calculate the bounding volume based on the current Shape parameters including transformation.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxCollide::HeightField *	createFromFile (const agx::String &filename, agx::Real sizeX, agx::Real sizeY, agx::Real low, agx::Real high, agx::Real bottomMargin=agx::Real(1))

static agxCollide::HeightField *	createFromImage (agxIO::Image *image, agx::Real sizeX, agx::Real sizeY, agx::Real low, agx::Real high, agx::Real bottomMargin=agx::Real(1))

Static Public Member Functions inherited from agxCollide::Mesh
static size_t	getGlobalEdgeIndex (size_t triangleIndex, uint_fast8_t localEdgeIndex)
	Computes the global edge index from a given triangle index and the local edge index within this triangle.

static size_t	getGlobalTriangleIndex (size_t globalEdgeIndex)

static size_t	getLocalEdgeIndex (size_t globalEdgeIndex)

Static Public Member Functions inherited from agxCollide::Shape
static BoundingAABB	calculateBound (const agx::AffineMatrix4x4 &transform, const BoundingAABB &localBound)

static const char *	getTypeName (agx::UInt8 type)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~HeightField ()

Protected Member Functions inherited from agxCollide::Mesh
	Mesh (Shape::Type type, agx::Physics::Geometry::ShapePtr entity)
	Hidden, should only be called by child classes.

virtual	~Mesh ()
	Hide destructor.

void	restore (class agxStream::InputArchive &in) override

void	store (class agxStream::OutputArchive &out) const override

virtual void	updateBvhTree ()=0

Protected Member Functions inherited from agxCollide::Shape
	Shape (Type type, agx::Physics::Geometry::ShapePtr entity=agx::Physics::Geometry::ShapeModel::createInstance())
	Constructor.

virtual	~Shape ()
	Destructor.

agx::UInt32	incrementModifiedCount ()
	Increment the number of times the shape have been modified.

void	syncronizeShapeIndex ()

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
HeightFieldMeshDataRef	m_heightFieldData

Protected Attributes inherited from agxCollide::Mesh
AabbTreeRef	m_aabbTree

CollisionMeshDataRef	m_collisionMeshData

BoundingAABB	m_localBound

Protected Attributes inherited from agxCollide::Shape
agx::Physics::Geometry::ShapeRef	m_entity

Geometry *	m_geometry

ShapeGroup *	m_parent

agxCollide::RenderDataRef	m_renderData

agx::Index	m_shapeIndex

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Public Types inherited from agxCollide::Mesh
typedef agx::Vector< TriangleLineSegmentResult >	TriangleLineSegmentResultVector

Public Types inherited from agxCollide::Shape
enum	Type { GROUP , BOX , CAPSULE , CYLINDER , LINE , PLANE , SPHERE , TRIMESH , HEIGHT_FIELD , CONVEX , WIRE_SHAPE , CONE , HOLLOW_CONE , HOLLOW_CYLINDER , NUM_TYPES }
	Define the type of a Shape. More...

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

A HeightField is a collision shape that can be created from a grid structure, like an image.

Each grid point defines a height, and the difference in height between the grid points is interpolated by triangles which are then used for collision detection. Each (rectangular) grid cell is divided in a lower left and an upper right triangle. The grid is assumed to be in dimension x and y, and z is assumed to be upwards in positive height. In the x and y dimension, the grid is centered at the origin in its local frame. The grid is stored internally in row major order.

Definition at line 51 of file agxCollide/HeightField.h.

Constructor & Destructor Documentation

◆ HeightField() [1/2]

agxCollide::HeightField::HeightField	(	size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	sizeX,
		agx::Real	sizeY,
		agx::Real	bottomMargin = `agx::Real(1)`
	)

Constructor for the HeightField class.

This will create a HeightField with height 0 everywhere. Use setHeights to set the heights at all points at once, or setHeight to set it at especially defined positions.

Parameters

resolutionX	The number of sample points in dimension x.
resolutionY	The number of sample points in dimension y.
sizeX	The physical size in dimension x.
sizeY	The physical size in dimension y.
bottomMargin	How deep is the HeightField under its lowest point? Positive value.

◆ HeightField() [2/2]

agxCollide::HeightField::HeightField	(	size_t	resolutionX,
		size_t	resolutionY,
		agx::Real	sizeX,
		agx::Real	sizeY,
		const agx::RealVector &	heights,
		bool	flipY = `false`,
		agx::Real	bottomMargin = `agx::Real(1)`
	)

Constructor for the HeightField class.

This will create a HeightField with height 0 everywhere. Use setHeights to set the heights at all points at once, or setHeight to set it at especially defined positions.

Parameters

resolutionX	The number of sample points in dimension x.
resolutionY	The number of sample points in dimension y.
sizeX	The physical size in dimension x.
sizeY	The physical size in dimension y.
heights	- must be a row major matrix with dimensions (resolutionX, resolutionY).
flipY	- set to true if y decreases with increasing indices in heights.
bottomMargin	How deep is the HeightField under its lowest point? Positive value.

◆ ~HeightField()

virtual agxCollide::HeightField::~HeightField ( )

protectedvirtual

Member Function Documentation

◆ calculateMassProperties()

void agxCollide::HeightField::calculateMassProperties ( )

Calculates "mass properties" such as volume, unscaled inertia tensor and center.

Will give standard values for non-dynamic HeightFields. For dynamic HeightFields, the mass properties will be recalculated per triangle which is expensive in large HeightFields (linear in number of triangles).

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [1/2]

virtual void agxCollide::HeightField::calculatePossibleTriangleOverlapsAlongLineSegment	(	const agx::Vec3 &	segmentStartLocal,
		const agx::Vec3 &	segmentEndLocal,
		agx::UInt32Vector &	triangleIndices
	)		const

overridevirtual

Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

Parameters

segmentStartLocal	The segment starting point in heightfield coordinates.
segmentEndLocal	The segment ending point in heightfield coordinates.
triangleIndices	A vector of triangle indices. It will be emptied before writing to it.

Implements agxCollide::Mesh.

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [2/2]

virtual void agxCollide::HeightField::calculatePossibleTriangleOverlapsAlongLineSegment	(	const agx::Vec3 &	segmentStartLocal,
		const agx::Vec3 &	segmentEndLocal,
		agxData::LocalVector< agx::UInt32 > &	triangleIndices
	)		const

overridevirtual

Calculates an array of triangle indices of the triangles whose bounding volumes get intersected by a line segment.

Parameters

segmentStartLocal	The segment starting point in heightfield coordinates.
segmentEndLocal	The segment ending point in heightfield coordinates.
triangleIndices	A vector of triangle indices. It will be emptied before writing to it.

Implements agxCollide::Mesh.

◆ calculateVertexCoordinates()

void agxCollide::HeightField::calculateVertexCoordinates	(	size_t	vertexIndex,
		size_t &	vertexIndexX,
		size_t &	vertexIndexY
	)		const

Calculates the vertex indices for x and y given a global vertex index.

Parameters

vertexIndex	The global vertex index.
vertexIndexX	A return value: The vertex index's x component.
vertexIndexY	A return value: The vertex index's y component.

Definition at line 451 of file agxCollide/HeightField.h.

◆ calculateVertexIndicesTouchedByAABB()

bool agxCollide::HeightField::calculateVertexIndicesTouchedByAABB	(	const BoundingAABB &	volume,
		const agx::AffineMatrix4x4 &	meshToWorld,
		const agx::AffineMatrix4x4 &	volumeToWorld,
		agx::Vec2i &	gridMin,
		agx::Vec2i &	gridMax
	)		const

Calculates the minimum and maximum vertex indices of the square that a bounding box resides in.

Parameters

volume	The bounding box in its local coordinates.
meshToWorld	A transformation from the mesh's local frame to world coordinates.
volumeToWorld	A transformation from the volume's local frame to world coordinates.
gridMin	The minimum vertex index x and y values.
gridMax	The maximum vertex index x and y values.

Return values

Does	the volume have any overlap with the grid?

◆ clone()

virtual Shape * agxCollide::HeightField::clone ( ) const

overridevirtual

Create a clone.

Reimplemented from agxCollide::Shape.

◆ createFromFile()

static agxCollide::HeightField * agxCollide::HeightField::createFromFile	(	const agx::String &	filename,
		agx::Real	sizeX,
		agx::Real	sizeY,
		agx::Real	low,
		agx::Real	high,
		agx::Real	bottomMargin = `agx::Real(1)`
	)

static

Parameters

filename	- Path to an image which will be read as a height map.
sizeX	- World size in the x dimension
sizeY	- World size in the y dimension
low	- The lowest height in the z dimension, maps to the lowest value in the image
high	- The highest height in the z dimension, maps to the highest value in the image
bottomMargin	How deep is the HeightField under its lowest point?

Returns: a HeightField shape with extents in X/Y and height values along Z

◆ createFromImage()

static agxCollide::HeightField * agxCollide::HeightField::createFromImage	(	agxIO::Image *	image,
		agx::Real	sizeX,
		agx::Real	sizeY,
		agx::Real	low,
		agx::Real	high,
		agx::Real	bottomMargin = `agx::Real(1)`
	)

static

◆ deepCopy()

HeightField * agxCollide::HeightField::deepCopy ( ) const

Creates a new HeightField which copies data from this one.

(modifying one's data will not modify the other's). Less quick to create than shallowCopy (but faster than creating mesh from input data), double memory usage. The caller takes over possession of the pointer.

◆ getDynamic()

bool agxCollide::HeightField::getDynamic ( ) const

Return if the HeightField is dynamic, which means if it should keep its MassProperties updated.

Definition at line 487 of file agxCollide/HeightField.h.

◆ getHeight()

agx::Real agxCollide::HeightField::getHeight	(	size_t	x,
		size_t	y
	)		const

Gets the height at a grid point.

Parameters

x	x coordinate on grid.
y	y coordinate on grid.

Return values

height at this position.

Definition at line 433 of file agxCollide/HeightField.h.

◆ getHeightFieldMeshData()

const HeightFieldMeshData * agxCollide::HeightField::getHeightFieldMeshData ( ) const

Returns: a const pointer to the mesh data specific for this height field.

Definition at line 500 of file agxCollide/HeightField.h.

◆ getMaxHeight()

agx::Real agxCollide::HeightField::getMaxHeight ( ) const

Returns the (global) maximum height of the HeightField.

Definition at line 415 of file agxCollide/HeightField.h.

◆ getMinAllowedHeight()

agx::Real agxCollide::HeightField::getMinAllowedHeight ( ) const

Returns the minimum allowed height, which is at the same time the lower bound for a dynamic HeightField (for volume computation).

Definition at line 481 of file agxCollide/HeightField.h.

◆ getMinHeight()

agx::Real agxCollide::HeightField::getMinHeight ( ) const

Returns the (global) minimum height of the HeightField.

Definition at line 409 of file agxCollide/HeightField.h.

◆ getResolutionX()

size_t agxCollide::HeightField::getResolutionX ( ) const

Returns the resolution (the number of height values) in dimension x.

Definition at line 421 of file agxCollide/HeightField.h.

◆ getResolutionY()

size_t agxCollide::HeightField::getResolutionY ( ) const

Returns the resolution (the number of height values) in dimension y.

Definition at line 427 of file agxCollide/HeightField.h.

◆ getScale()

agx::Vec2 agxCollide::HeightField::getScale ( ) const

Returns the scaling factor for a single cell in the HeightField (in dimension x and y).

Definition at line 445 of file agxCollide/HeightField.h.

◆ getSize()

agx::Vec2 agxCollide::HeightField::getSize ( ) const

Returns the size of the HeightField (in dimension x and y).

Definition at line 439 of file agxCollide/HeightField.h.

◆ getTriangleFromPoint()

Mesh::Triangle agxCollide::HeightField::getTriangleFromPoint ( const agx::Vec3 & point ) const

Returns a triangle given the 2D-projection of a point on the xy-plane in the grid.

The triangle will be invalid if the point's projection is outside the grid.

◆ getTriangleIndex()

size_t agxCollide::HeightField::getTriangleIndex	(	size_t	indexX,
		size_t	indexY,
		uint_fast8_t	upper
	)		const

Computes the global triangle index within the HeightField.

Parameters

indexX	The triangle's x index (valid values: 0 to (getResolutionX() - 2)).
indexY	The triangle's y index (valid values: 0 to (getResolutionY() - 2)).
upper	Is it a lower left triangle (0) or upper right triangle (1)?

Definition at line 459 of file agxCollide/HeightField.h.

◆ getVertexFromGrid()

agx::Vec3 agxCollide::HeightField::getVertexFromGrid	(	size_t	xIndex,
		size_t	yIndex
	)		const

Returns the vertex at a grid position.

Definition at line 466 of file agxCollide/HeightField.h.

◆ projectPointToGrid()

agx::Vec2 agxCollide::HeightField::projectPointToGrid ( const agx::Vec3 & point ) const

Projects a point in local HeightField coordinate system to the HeightField grid (which is moved to the first quadrant).

Parameters

point Point in height field coordinate system (height field center in origin).

Return values

Point in height field grid. Will be on grid if values are between (0, 0) and (getResolutionX() - 1, getResolutionY() - 1). Drop decimals for lower lower grid coordinates, round upwards for higher ones.

Definition at line 506 of file agxCollide/HeightField.h.

◆ setDynamic()

void agxCollide::HeightField::setDynamic ( bool dynamic )

Sets if the HeightField is dynamic, which means if it should keep its MassProperties updated.

Definition at line 493 of file agxCollide/HeightField.h.

◆ setHeight()

void agxCollide::HeightField::setHeight	(	size_t	xIndex,
		size_t	yIndex,
		agx::Real	height
	)

Sets the height at a specific grid node.

Parameters

xIndex	The index of the grid node in dimension x.
yIndex	The index of the grid node in dimension y.
height	The desired height at this position.

This method will recompute all adjacent triangles (up to 6). If several adjacent heights of are changed, it can be more efficient to call setHeights for the (rectangular) part of the grid that should be changed.

For dynamic HeightFields, only the volume and center of mass of the HeightField will be updated automatically, the unscaled inertia will remain the same. (Call the potentially costly calculateMassProperties after all desired heights have been set in order to calculate the new mass properties including inertia, if a correctly updated inertia is important).

◆ setHeights() [1/2]

void agxCollide::HeightField::setHeights	(	const agx::RealVector &	heights,
		bool	flipY = `false`
	)

Set height values of all sampled points.

Parameters

heights	- must be a row major matrix with dimensions (resolutionX, resolutionY).
flipY	- set to true if y decreases with increasing indices in heights.

◆ setHeights() [2/2]

bool agxCollide::HeightField::setHeights	(	const agx::RealVector &	heights,
		size_t	minVertexX,
		size_t	maxVertexX,
		size_t	minVertexY,
		size_t	maxVertexY
	)

Set height values of all grid nodes within a rectangle.

All triangles which belong to any of the points will be recalculated. This is cheaper than calling setHeight(...) for all points in the rectangle, since all triangles have to be computed just once instead of up to 6 times.

Parameters

heights	A vector of size (maxVertexX + 1 - minVertexX) * (maxVertexY + 1 - minVertexY), giving the heights for the rectangle.
minVertexX	The minimum vertex x index.
minVertexY	The minimum vertex y index.
maxVertexX	The maximum vertex x index.
maxVertexY	The maximum vertex y index.

Return values

true of succeeded (parameters within bounds and heights has correct size). For dynamic HeightFields, only the volume and center of mass of the HeightField will be updated automatically, the unscaled inertia will remain the same. (Call the potentially costly calculateMassProperties after all desired heights have been set in order to calculate the new mass properties including inertia, if a correctly updated inertia is important).

◆ setHeightsFromList()

void agxCollide::HeightField::setHeightsFromList	(	const agx::Vec2uVector &	indices,
		const agx::RealVector &	heights
	)

Set height values given a list of terrain indices and corresponding heights.

Parameters

indices	- list of indices to be updated. Must be of the same dimensions as the height vector.
heights	- list of heights belonging to the indices to be updated. Must be of the same dimensions as the indices vector.

◆ setMinAllowedHeight()

void agxCollide::HeightField::setMinAllowedHeight ( agx::Real minAllowedHeight )

Sets the new minAllowedHeight, which is at the same time the lower bound for a dynamic HeightField (for volume computation).

If the new minAllowedHeight is larger than the smallest existing height, it will be set to the smallest existing height. If the HeightField is dynamic, the mass properties will be recalculated, which is expensive in large HeightFields (linear in number of triangles). This function will not change existing height values, so that there might be heights below the minimum allowed heights if the the minimum allowed height is increased.

Parameters

minAllowedHeight The new minimum height.

Definition at line 472 of file agxCollide/HeightField.h.

◆ shallowCopy()

HeightField * agxCollide::HeightField::shallowCopy ( ) const

Creates a new HeightField which shares data with this one.

(should not be used for data which will be changed afterwards). Quick to create, minimum memory overhead. The caller takes over possession of the pointer.

Member Data Documentation

◆ m_heightFieldData

HeightFieldMeshDataRef agxCollide::HeightField::m_heightFieldData

protected

Definition at line 402 of file agxCollide/HeightField.h.

The documentation for this class was generated from the following file:

agxCollide/HeightField.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HeightField() [1/2]

◆ HeightField() [2/2]

◆ ~HeightField()

Member Function Documentation

◆ calculateMassProperties()

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [1/2]

◆ calculatePossibleTriangleOverlapsAlongLineSegment() [2/2]

◆ calculateVertexCoordinates()

◆ calculateVertexIndicesTouchedByAABB()

◆ clone()

◆ createFromFile()

◆ createFromImage()

◆ deepCopy()

◆ getDynamic()

◆ getHeight()

◆ getHeightFieldMeshData()

◆ getMaxHeight()

◆ getMinAllowedHeight()

◆ getMinHeight()

◆ getResolutionX()

◆ getResolutionY()

◆ getScale()

◆ getSize()

◆ getTriangleFromPoint()

◆ getTriangleIndex()

◆ getVertexFromGrid()

◆ projectPointToGrid()

◆ setDynamic()

◆ setHeight()

◆ setHeights() [1/2]

◆ setHeights() [2/2]

◆ setHeightsFromList()

◆ setMinAllowedHeight()

◆ shallowCopy()

Member Data Documentation

◆ m_heightFieldData