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Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.


#include "btConcaveShape.h"

///The btHeightfieldTerrainShape simulates a 2D heightfield terrain collision shape. You can also use the more general btBvhTriangleMeshShape instead.
///An example implementation of btHeightfieldTerrainShape is provided in Demos/VehicleDemo/VehicleDemo.cpp
00023 class btHeightfieldTerrainShape : public btConcaveShape
      btVector3   m_localAabbMin;
      btVector3   m_localAabbMax;
      ///terrain data
00030       int   m_heightStickWidth;
      int m_heightStickLength;
      btScalar    m_maxHeight;
      btScalar m_width;
      btScalar m_length;
            unsigned char*    m_heightfieldDataUnsignedChar;
            btScalar*               m_heightfieldDataFloat;
            void*             m_heightfieldDataUnknown;
      bool  m_useFloatData;
      bool  m_flipQuadEdges;
  bool  m_useDiamondSubdivision;

      int   m_upAxis;
      btVector3   m_localScaling;

      virtual btScalar  getHeightFieldValue(int x,int y) const;
      void        quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
      void        getVertex(int x,int y,btVector3& vertex) const;

      inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const  int* aabbMin2,const  int* aabbMax2) const
            bool overlap = true;
            overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
            overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
            overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
            return overlap;

      btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);

      virtual ~btHeightfieldTerrainShape();

      void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}

      virtual int getShapeType() const
            return TERRAIN_SHAPE_PROXYTYPE;

      virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;

      virtual void      processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;

      virtual void      calculateLocalInertia(btScalar mass,btVector3& inertia) const;

      virtual void      setLocalScaling(const btVector3& scaling);
      virtual const btVector3& getLocalScaling() const;
      virtual const char*     getName()const {return "HEIGHTFIELD";}



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