org.ode4j.ode.DHeightfieldData Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
import org.ode4j.ode.DHeightfield.DHeightfieldGetHeight;
public interface DHeightfieldData {
/**
* Configures a dHeightfieldData to use a callback to
* retrieve height data.
*
* Before a dHeightfieldData can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is computed by
* the user and it should use the given callback when determining
* the height of a given element of it's shape.
* @param pUserData user data
* @param pCallback callback
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*/
void buildCallback(
Object pUserData, DHeightfieldGetHeight pCallback,
double width, double depth, int widthSamples, int depthSamples,
double scale, double offset, double thickness, boolean bWrap );
/**
* Destroys a dHeightfieldData.
*
* Deallocates a given dHeightfieldData and all managed resources.
*/
void destroy();
/**
* Manually set the minimum and maximum height bounds.
*
* This call allows you to set explicit min / max values after initial
* creation typically for callback heightfields which default to +/- infinity,
* or those whose data has changed. This must be set prior to binding with a
* geom, as the the AABB is not recomputed after it's first generation.
*
*
The minimum and maximum values are used to compute the AABB
* for the heightfield which is used for early rejection of collisions.
* A close fit will yield a more efficient collision check.
*
* @param minHeight The new minimum height value. Scale, offset and thickness is then applied.
* @param maxHeight The new maximum height value. Scale and offset is then applied.
*/
void setBounds( double minHeight, double maxHeight );
/**
* Configures a dHeightfieldData to use height data in byte format.
*
* Before a dHeightfieldData can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of bytes (8 bit unsigned) representing the height at each sample point.
*
* See build(double[], ...) for example code.
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*/
void build(byte[] pHeightData,
boolean bCopyHeightData, double width, double depth,
int widthSamples, int depthSamples, double scale, double offset,
double thickness, boolean bWrap);
/**
* Configures a dHeightfieldData to use height data in short format.
*
* Before a dHeightfieldData can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of shorts (16 bit signed) representing the height at each sample point.
*
* See build(double[], ...) for example code.
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*/
//ODE_API
// void dGeomHeightfieldDataBuildShort( dHeightfieldData d,
// final short* pHeightData, int bCopyHeightData,
// double width, double depth, int widthSamples, int depthSamples,
// double scale, double offset, double thickness, int bWrap ) {
void build( final short[] pHeightData, boolean bCopyHeightData,
double width, double depth, int widthSamples, int depthSamples,
double scale, double offset, double thickness, boolean bWrap );
/**
* Configures a dHeightfieldData to use height data in
* single precision floating point format.
*
* Before a dHeightfieldData can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of single precision floats representing the height at each
* sample point.
*
* See build(double[], ...) for example code.
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*/
//ODE_API
// void dGeomHeightfieldDataBuildSingle( dHeightfieldData d,
// final float* pHeightData, int bCopyHeightData,
// double width, double depth, int widthSamples, int depthSamples,
// double scale, double offset, double thickness, int bWrap ) {
void build( final float[] pHeightData, boolean bCopyHeightData,
double width, double depth, int widthSamples, int depthSamples,
double scale, double offset, double thickness, boolean bWrap );
/**
* Configures a dHeightfieldData to use height data in
* double precision floating point format.
*
* Before a dHeightfieldData can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of double precision floats representing the height at each
* sample point.
*
*
* DHeightfieldData heightData = OdeHelper.createHeightfieldData();
* double[] data = new double[MAX_X*MAX_Z];
* for (int x = 0; x < MAX_X; x++) {
* for (int z = 0; z < MAX_Z; z++) {
* data[x+MAX_X*z] = heightfieldFunction(x, z);
* }
* }
* heightData.build(data, false, X_WIDTH, Z_DEPTH, MAX_X, MAX_Z, 1.0, 0.0, 0.0, false );
*
*
* See DemoHeightfield for a full example.
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*/
//ODE_API
// void dGeomHeightfieldDataBuildDouble( dHeightfieldData d,
// final double* pHeightData, int bCopyHeightData,
// double width, double depth, int widthSamples, int depthSamples,
// double scale, double offset, double thickness, int bWrap ) {
void build( final double[] pHeightData, final boolean bCopyHeightData,
final double width, final double depth,
final int widthSamples, final int depthSamples,
final double scale, final double offset,
final double thickness, final boolean bWrap );
}