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Heightmap collision shape support in Godot Physics

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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
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2
COPYRIGHT.txt
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@ -89,6 +89,8 @@ Files: ./servers/physics_3d/gjk_epa.cpp
./servers/physics_3d/joints/slider_joint_3d_sw.h
./servers/physics_3d/soft_body_3d_sw.cpp
./servers/physics_3d/soft_body_3d_sw.h
./servers/physics_3d/shape_3d_sw.cpp
./servers/physics_3d/shape_3d_sw.h
Comment: Bullet Continuous Collision Detection and Physics Library
Copyright: 2003-2008, Erwin Coumans
2007-2021, Juan Linietsky, Ariel Manzur.

2
doc/classes/HeightMapShape3D.xml
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@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="HeightMapShape3D" inherits="Shape3D" version="4.0">
<brief_description>
Height map shape for 3D physics (Bullet only).
Height map shape for 3D physics.
</brief_description>
<description>
Height map shape resource, which can be added to a [PhysicsBody3D] or [Area3D].

25
modules/bullet/shape_bullet.cpp
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@ -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

6
modules/bullet/shape_bullet.h
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@ -89,7 +89,7 @@ public:
/// IMPORTANT: Remember to delete the shape interface by calling: delete my_shape->getMeshInterface();
static class btConvexPointCloudShape *create_shape_convex(btAlignedObjectArray<btVector3> &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(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
static class btHeightfieldTerrainShape *create_shape_height_field(Vector<float> &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);
};
@ -212,7 +212,7 @@ private:
class HeightMapShapeBullet : public ShapeBullet {
public:
Vector<real_t> heights;
Vector<float> heights;
int width = 0;
int depth = 0;
real_t min_height = 0.0;
@ -226,7 +226,7 @@ public:
virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_extra_edge = 0);
private:
void setup(Vector<real_t> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
void setup(Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
};
class RayShapeBullet : public ShapeBullet {

12
scene/resources/height_map_shape_3d.cpp
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@ -41,7 +41,7 @@ Vector<Vector3> HeightMapShape3D::get_debug_mesh_lines() const {
Vector2 size(map_width - 1, map_depth - 1);
Vector2 start = size * -0.5;
const real_t *r = map_data.ptr();
const float *r = map_data.ptr();
// reserve some memory for our points..
points.resize(((map_width - 1) * map_depth * 2) + (map_width * (map_depth - 1) * 2));
@ -100,7 +100,7 @@ void HeightMapShape3D::set_map_width(int p_new) {
int new_size = map_width * map_depth;
map_data.resize(map_width * map_depth);
real_t *w = map_data.ptrw();
float *w = map_data.ptrw();
while (was_size < new_size) {
w[was_size++] = 0.0;
}
@ -124,7 +124,7 @@ void HeightMapShape3D::set_map_depth(int p_new) {
int new_size = map_width * map_depth;
map_data.resize(new_size);
real_t *w = map_data.ptrw();
float *w = map_data.ptrw();
while (was_size < new_size) {
w[was_size++] = 0.0;
}
@ -146,8 +146,8 @@ void HeightMapShape3D::set_map_data(PackedFloat32Array p_new) {
}
// copy
real_t *w = map_data.ptrw();
const real_t *r = p_new.ptr();
float *w = map_data.ptrw();
const float *r = p_new.ptr();
for (int i = 0; i < size; i++) {
float val = r[i];
w[i] = val;
@ -189,7 +189,7 @@ void HeightMapShape3D::_bind_methods() {
HeightMapShape3D::HeightMapShape3D() :
Shape3D(PhysicsServer3D::get_singleton()->shape_create(PhysicsServer3D::SHAPE_HEIGHTMAP)) {
map_data.resize(map_width * map_depth);
real_t *w = map_data.ptrw();
float *w = map_data.ptrw();
w[0] = 0.0;
w[1] = 0.0;
w[2] = 0.0;

4
scene/resources/height_map_shape_3d.h
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@ -39,8 +39,8 @@ class HeightMapShape3D : public Shape3D {
int map_width = 2;
int map_depth = 2;
PackedFloat32Array map_data;
float min_height = 0.0;
float max_height = 0.0;
real_t min_height = 0.0;
real_t max_height = 0.0;
protected:
static void _bind_methods();

372
servers/physics_3d/shape_3d_sw.cpp
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@ -30,10 +30,28 @@
#include "shape_3d_sw.h"
#include "core/io/image.h"
#include "core/math/geometry_3d.h"
#include "core/math/quick_hull.h"
#include "core/templates/sort_array.h"
// HeightMapShape3DSW is based on Bullet btHeightfieldTerrainShape.
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#define _EDGE_IS_VALID_SUPPORT_THRESHOLD 0.0002
#define _FACE_IS_VALID_SUPPORT_THRESHOLD 0.9998
@ -1614,7 +1632,7 @@ ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() {
/* HEIGHT MAP SHAPE */
Vector<real_t> HeightMapShape3DSW::get_heights() const {
Vector<float> HeightMapShape3DSW::get_heights() const {
return heights;
}
@ -1626,10 +1644,6 @@ int HeightMapShape3DSW::get_depth() const {
return depth;
}
real_t HeightMapShape3DSW::get_cell_size() const {
return cell_size;
}
void HeightMapShape3DSW::project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const {
//not very useful, but not very used either
p_transform.xform(get_aabb()).project_range_in_plane(Plane(p_normal, 0), r_min, r_max);
@ -1640,7 +1654,198 @@ Vector3 HeightMapShape3DSW::get_support(const Vector3 &p_normal) const {
return get_aabb().get_support(p_normal);
}
struct _HeightmapSegmentCullParams {
Vector3 from;
Vector3 to;
Vector3 dir;
Vector3 result;
Vector3 normal;
const HeightMapShape3DSW *heightmap = nullptr;
FaceShape3DSW *face = nullptr;
};
_FORCE_INLINE_ bool _heightmap_face_cull_segment(_HeightmapSegmentCullParams &p_params) {
Vector3 res;
Vector3 normal;
if (p_params.face->intersect_segment(p_params.from, p_params.to, res, normal)) {
p_params.result = res;
p_params.normal = normal;
return true;
}
return false;
}
_FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_params, int p_x, int p_z) {
// First triangle.
p_params.heightmap->_get_point(p_x, p_z, p_params.face->vertex[0]);
p_params.heightmap->_get_point(p_x + 1, p_z, p_params.face->vertex[1]);
p_params.heightmap->_get_point(p_x, p_z + 1, p_params.face->vertex[2]);
p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
if (_heightmap_face_cull_segment(p_params)) {
return true;
}
// Second triangle.
p_params.face->vertex[0] = p_params.face->vertex[1];
p_params.heightmap->_get_point(p_x + 1, p_z + 1, p_params.face->vertex[1]);
p_params.face->normal = Plane(p_params.face->vertex[0], p_params.face->vertex[1], p_params.face->vertex[2]).normal;
if (_heightmap_face_cull_segment(p_params)) {
return true;
}
return false;
}
bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const {
if (heights.is_empty()) {
return false;
}
Vector3 local_begin = p_begin + local_origin;
Vector3 local_end = p_end + local_origin;
FaceShape3DSW face;
face.backface_collision = false;
_HeightmapSegmentCullParams params;
params.from = p_begin;
params.to = p_end;
params.dir = (p_end - p_begin).normalized();
params.heightmap = this;
params.face = &face;
// Quantize the ray begin/end.
int begin_x = floor(local_begin.x);
int begin_z = floor(local_begin.z);
int end_x = floor(local_end.x);
int end_z = floor(local_end.z);
if ((begin_x == end_x) && (begin_z == end_z)) {
// Simple case for rays that don't traverse the grid horizontally.
// Just perform a test on the given cell.
int x = CLAMP(begin_x, 0, width - 2);
int z = CLAMP(begin_z, 0, depth - 2);
if (_heightmap_cell_cull_segment(params, x, z)) {
r_point = params.result;
r_normal = params.normal;
return true;
}
} else {
// Perform grid query from projected ray.
Vector2 ray_dir_proj(local_end.x - local_begin.x, local_end.z - local_begin.z);
real_t ray_dist_proj = ray_dir_proj.length();
if (ray_dist_proj < CMP_EPSILON) {
ray_dir_proj = Vector2();
} else {
ray_dir_proj /= ray_dist_proj;
}
const int x_step = (ray_dir_proj.x > CMP_EPSILON) ? 1 : ((ray_dir_proj.x < -CMP_EPSILON) ? -1 : 0);
const int z_step = (ray_dir_proj.y > CMP_EPSILON) ? 1 : ((ray_dir_proj.y < -CMP_EPSILON) ? -1 : 0);
const real_t infinite = 1e20;
const real_t delta_x = (x_step != 0) ? 1.f / Math::abs(ray_dir_proj.x) : infinite;
const real_t delta_z = (z_step != 0) ? 1.f / Math::abs(ray_dir_proj.y) : infinite;
real_t cross_x; // At which value of `param` we will cross a x-axis lane?
real_t cross_z; // At which value of `param` we will cross a z-axis lane?
// X initialization.
if (x_step != 0) {
if (x_step == 1) {
cross_x = (ceil(local_begin.x) - local_begin.x) * delta_x;
} else {
cross_x = (local_begin.x - floor(local_begin.x)) * delta_x;
}
} else {
cross_x = infinite; // Will never cross on X.
}
// Z initialization.
if (z_step != 0) {
if (z_step == 1) {
cross_z = (ceil(local_begin.z) - local_begin.z) * delta_z;
} else {
cross_z = (local_begin.z - floor(local_begin.z)) * delta_z;
}
} else {
cross_z = infinite; // Will never cross on Z.
}
int x = floor(local_begin.x);
int z = floor(local_begin.z);
// Workaround cases where the ray starts at an integer position.
if (Math::abs(cross_x) < CMP_EPSILON) {
cross_x += delta_x;
// If going backwards, we should ignore the position we would get by the above flooring,
// because the ray is not heading in that direction.
if (x_step == -1) {
x -= 1;
}
}
if (Math::abs(cross_z) < CMP_EPSILON) {
cross_z += delta_z;
if (z_step == -1) {
z -= 1;
}
}
// Start inside the grid.
int x_start = CLAMP(x, 0, width - 2);
int z_start = CLAMP(z, 0, depth - 2);
// Adjust initial cross values.
cross_x += delta_x * x_step * (x_start - x);
cross_z += delta_z * z_step * (z_start - z);
x = x_start;
z = z_start;
if (_heightmap_cell_cull_segment(params, x, z)) {
r_point = params.result;
r_normal = params.normal;
return true;
}
real_t dist = 0.0;
while (true) {
if (cross_x < cross_z) {
// X lane.
x += x_step;
// Assign before advancing the param,
// to be in sync with the initialization step.
dist = cross_x;
cross_x += delta_x;
} else {
// Z lane.
z += z_step;
dist = cross_z;
cross_z += delta_z;
}
// Stop when outside the grid.
if ((x < 0) || (z < 0) || (x >= width - 1) || (z >= depth - 1)) {
break;
}
if (_heightmap_cell_cull_segment(params, x, z)) {
r_point = params.result;
r_normal = params.normal;
return true;
}
if (dist > ray_dist_proj) {
break;
}
}
}
return false;
}
@ -1652,7 +1857,66 @@ Vector3 HeightMapShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
return Vector3();
}
void HeightMapShape3DSW::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const {
const AABB &aabb = get_aabb();
Vector3 pos_local = aabb.position + local_origin;
Vector3 clamped_point(p_point);
clamped_point.x = CLAMP(p_point.x, pos_local.x, pos_local.x + aabb.size.x);
clamped_point.y = CLAMP(p_point.y, pos_local.y, pos_local.y + aabb.size.y);
clamped_point.z = CLAMP(p_point.z, pos_local.z, pos_local.x + aabb.size.z);
r_x = (clamped_point.x < 0.0) ? (clamped_point.x - 0.5) : (clamped_point.x + 0.5);
r_y = (clamped_point.y < 0.0) ? (clamped_point.y - 0.5) : (clamped_point.y + 0.5);
r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5);
}
void HeightMapShape3DSW::cull(const AABB &p_local_aabb, Callback p_callback, void *p_userdata) const {
if (heights.is_empty()) {
return;
}
AABB local_aabb = p_local_aabb;
local_aabb.position += local_origin;
// Quantize the aabb, and adjust the start/end ranges.
int aabb_min[3];
int aabb_max[3];
_get_cell(local_aabb.position, aabb_min[0], aabb_min[1], aabb_min[2]);
_get_cell(local_aabb.position + local_aabb.size, aabb_max[0], aabb_max[1], aabb_max[2]);
// Expand the min/max quantized values.
// This is to catch the case where the input aabb falls between grid points.
for (int i = 0; i < 3; ++i) {
aabb_min[i]--;
aabb_max[i]++;
}
int start_x = MAX(0, aabb_min[0]);
int end_x = MIN(width - 1, aabb_max[0]);
int start_z = MAX(0, aabb_min[2]);
int end_z = MIN(depth - 1, aabb_max[2]);
FaceShape3DSW face;
face.backface_collision = true;
for (int z = start_z; z < end_z; z++) {
for (int x = start_x; x < end_x; x++) {
// First triangle.
_get_point(x, z, face.vertex[0]);
_get_point(x + 1, z, face.vertex[1]);
_get_point(x, z + 1, face.vertex[2]);
face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
p_callback(p_userdata, &face);
// Second triangle.
face.vertex[0] = face.vertex[1];
_get_point(x + 1, z + 1, face.vertex[1]);
face.normal = Plane(face.vertex[0], face.vertex[2], face.vertex[1]).normal;
p_callback(p_userdata, &face);
}
}
}
Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
@ -1665,58 +1929,102 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const {
(p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y));
}
void HeightMapShape3DSW::_setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size) {
void HeightMapShape3DSW::_setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) {
heights = p_heights;
width = p_width;
depth = p_depth;
cell_size = p_cell_size;
const real_t *r = heights.ptr();
// Initialize aabb.
AABB aabb;
aabb.position = Vector3(0.0, p_min_height, 0.0);
aabb.size = Vector3(p_width - 1, p_max_height - p_min_height, p_depth - 1);
for (int i = 0; i < depth; i++) {
for (int j = 0; j < width; j++) {
real_t h = r[i * width + j];
// Initialize origin as the aabb center.
local_origin = aabb.position + 0.5 * aabb.size;
local_origin.y = 0.0;
Vector3 pos(j * cell_size, h, i * cell_size);
if (i == 0 || j == 0) {
aabb.position = pos;
} else {
aabb.expand_to(pos);
}
}
}
aabb.position -= local_origin;
configure(aabb);
}
void HeightMapShape3DSW::set_data(const Variant &p_data) {
ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY);
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"));
int width = d["width"];
int depth = d["depth"];
real_t cell_size = d["cell_size"];
Vector<real_t> heights = d["heights"];
ERR_FAIL_COND(width <= 0);
ERR_FAIL_COND(depth <= 0);
ERR_FAIL_COND(cell_size <= CMP_EPSILON);
ERR_FAIL_COND(heights.size() != (width * depth));
_setup(heights, width, depth, cell_size);
ERR_FAIL_COND(width <= 0.0);
ERR_FAIL_COND(depth <= 0.0);
Variant heights_variant = d["heights"];
Vector<float> heights_buffer;
if (heights_variant.get_type() == Variant::PACKED_FLOAT32_ARRAY) {
// Ready-to-use heights can be passed.
heights_buffer = heights_variant;
} else if (heights_variant.get_type() == Variant::OBJECT) {
// If an image is passed, we have to convert it.
// This would be expensive to do with a script, so it's nice to have it here.
Ref<Image> image = heights_variant;
ERR_FAIL_COND(image.is_null());
ERR_FAIL_COND(image->get_format() != Image::FORMAT_RF);
PackedByteArray im_data = image->get_data();
heights_buffer.resize(image->get_width() * image->get_height());
float *w = heights_buffer.ptrw();
float *rp = (float *)im_data.ptr();
for (int i = 0; i < heights_buffer.size(); ++i) {
w[i] = rp[i];
}
} else {
ERR_FAIL_MSG("Expected PackedFloat32Array or float Image.");
}
// Compute min and max heights or use precomputed values.
real_t min_height = 0.0;
real_t max_height = 0.0;
if (d.has("min_height") && d.has("max_height")) {
min_height = d["min_height"];
max_height = d["max_height"];
} else {
int heights_size = heights.size();
for (int i = 0; i < heights_size; ++i) {
float h = heights[i];
if (h < min_height) {
min_height = h;
} else if (h > max_height) {
max_height = h;
}
}
}
ERR_FAIL_COND(min_height > max_height);
ERR_FAIL_COND(heights_buffer.size() != (width * depth));
// If specified, min and max height will be used as precomputed values.
_setup(heights_buffer, width, depth, min_height, max_height);
}
Variant HeightMapShape3DSW::get_data() const {
ERR_FAIL_V(Variant());
Dictionary d;
d["width"] = width;
d["depth"] = depth;
const AABB &aabb = get_aabb();
d["min_height"] = aabb.position.y;
d["max_height"] = aabb.position.y + aabb.size.y;
d["heights"] = heights;
return d;
}
HeightMapShape3DSW::HeightMapShape3DSW() {
width = 0;
depth = 0;
cell_size = 0;
}

28
servers/physics_3d/shape_3d_sw.h
View File

@ -81,7 +81,7 @@ public:
virtual PhysicsServer3D::ShapeType get_type() const = 0;
_FORCE_INLINE_ AABB get_aabb() const { return aabb; }
_FORCE_INLINE_ const AABB &get_aabb() const { return aabb; }
_FORCE_INLINE_ bool is_configured() const { return configured; }
virtual bool is_concave() const { return false; }
@ -389,21 +389,29 @@ public:
};
struct HeightMapShape3DSW : public ConcaveShape3DSW {
Vector<real_t> heights;
int width;
int depth;
real_t cell_size;
Vector<float> heights;
int width = 0;
int depth = 0;
Vector3 local_origin;
//void _cull_segment(int p_idx,_SegmentCullParams *p_params) const;
//void _cull(int p_idx,_CullParams *p_params) const;
_FORCE_INLINE_ float _get_height(int p_x, int p_z) const {
return heights[(p_z * width) + p_x];
}
void _setup(Vector<real_t> p_heights, int p_width, int p_depth, real_t p_cell_size);
_FORCE_INLINE_ void _get_point(int p_x, int p_z, Vector3 &r_point) const {
r_point.x = p_x - 0.5 * (width - 1.0);
r_point.y = _get_height(p_x, p_z);
r_point.z = p_z - 0.5 * (depth - 1.0);
}
void _get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const;
void _setup(const Vector<float> &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height);
public:
Vector<real_t> get_heights() const;
Vector<float> get_heights() const;
int get_width() const;
int get_depth() const;
real_t get_cell_size() const;
virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_HEIGHTMAP; }