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Heightmap collision shape support in Godot Physics #47347

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Apr 20, 2021
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Heightmap collision shape support in Godot Physics #47347

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2 changes: 2 additions & 0 deletions COPYRIGHT.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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2 changes: 1 addition & 1 deletion 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].
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25 changes: 7 additions & 18 deletions modules/bullet/shape_bullet.cpp
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Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand All @@ -511,21 +504,17 @@ 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) {
w[i] = rp[i];
}

} 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);
Expand All @@ -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;
Expand All @@ -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
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6 changes: 3 additions & 3 deletions modules/bullet/shape_bullet.h
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Expand Up @@ -89,7 +89,7 @@ class ShapeBullet : public RIDBullet {
/// 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);
};

Expand Down Expand Up @@ -212,7 +212,7 @@ class ConcavePolygonShapeBullet : public ShapeBullet {

class HeightMapShapeBullet : public ShapeBullet {
public:
Vector<real_t> heights;
Vector<float> heights;
int width = 0;
int depth = 0;
real_t min_height = 0.0;
Expand All @@ -226,7 +226,7 @@ class HeightMapShapeBullet : public ShapeBullet {
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 {
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12 changes: 6 additions & 6 deletions scene/resources/height_map_shape_3d.cpp
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Expand Up @@ -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));
Expand Down Expand Up @@ -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;
}
Expand All @@ -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;
}
Expand All @@ -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;
Expand Down Expand Up @@ -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;
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4 changes: 2 additions & 2 deletions scene/resources/height_map_shape_3d.h
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Expand Up @@ -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();
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