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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"

///btHeightfieldTerrainShape simulates a 2D heightfield terrain
  The caller is responsible for maintaining the heightfield array; this
  class does not make a copy.

  The heightfield can be dynamic so long as the min/max height values
  capture the extremes (heights must always be in that range).

  The local origin of the heightfield is assumed to be the exact
  center (as determined by width and length and height, with each
  axis multiplied by the localScaling).

  \b NOTE: be careful with coordinates.  If you have a heightfield with a local
  min height of -100m, and a max height of +500m, you may be tempted to place it
  at the origin (0,0) and expect the heights in world coordinates to be
  -100 to +500 meters.
  Actually, the heights will be -300 to +300m, because bullet will re-center
  the heightfield based on its AABB (which is determined by the min/max
  heights).  So keep in mind that once you create a btHeightfieldTerrainShape
  object, the heights will be adjusted relative to the center of the AABB.  This
  is different to the behavior of many rendering engines, but is useful for
  physics engines.

  Most (but not all) rendering and heightfield libraries assume upAxis = 1
  (that is, the y-axis is "up").  This class allows any of the 3 coordinates
  to be "up".  Make sure your choice of axis is consistent with your rendering

  The heightfield heights are determined from the data type used for the
  heightfieldData array.  

   - PHY_UCHAR: height at a point is the uchar value at the
       grid point, multipled by heightScale.  uchar isn't recommended
       because of its inability to deal with negative values, and
       low resolution (8-bit).

   - PHY_SHORT: height at a point is the short int value at that grid
       point, multipled by heightScale.

   - PHY_FLOAT: height at a point is the float value at that grid
       point.  heightScale is ignored when using the float heightfield
       data type.

  Whatever the caller specifies as minHeight and maxHeight will be honored.
  The class will not inspect the heightfield to discover the actual minimum
  or maximum heights.  These values are used to determine the heightfield's
  axis-aligned bounding box, multiplied by localScaling.

  For usage and testing see the TerrainDemo.
00071 class btHeightfieldTerrainShape : public btConcaveShape
      btVector3   m_localAabbMin;
      btVector3   m_localAabbMax;
      btVector3   m_localOrigin;

      ///terrain data
00079       int   m_heightStickWidth;
      int m_heightStickLength;
      btScalar    m_minHeight;
      btScalar    m_maxHeight;
      btScalar m_width;
      btScalar m_length;
      btScalar m_heightScale;
            unsigned char*    m_heightfieldDataUnsignedChar;
            short*            m_heightfieldDataShort;
            btScalar*               m_heightfieldDataFloat;
            void*             m_heightfieldDataUnknown;

      PHY_ScalarType    m_heightDataType; 
      bool  m_flipQuadEdges;
  bool  m_useDiamondSubdivision;

      int   m_upAxis;
      btVector3   m_localScaling;

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

      /// protected initialization
        Handles the work of constructors so that public constructors can be
        backwards-compatible without a lot of copy/paste.
      void initialize(int heightStickWidth, int heightStickLength,
                      void* heightfieldData, btScalar heightScale,
                      btScalar minHeight, btScalar maxHeight, int upAxis,
                      PHY_ScalarType heightDataType, bool flipQuadEdges);

      /// preferred constructor
        This constructor supports a range of heightfield
        data types, and allows for a non-zero minimum height value.
        heightScale is needed for any integer-based heightfield data types.
      btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
                                void* heightfieldData, btScalar heightScale,
                                btScalar minHeight, btScalar maxHeight,
                                int upAxis, PHY_ScalarType heightDataType,
                                bool flipQuadEdges);

      /// legacy constructor
        The legacy constructor assumes the heightfield has a minimum height
        of zero.  Only unsigned char or floats are supported.  For legacy
        compatibility reasons, heightScale is calculated as maxHeight / 65535 
        (and is only used when useFloatData = false).
      btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);

      virtual ~btHeightfieldTerrainShape();

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

      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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