Class Heightfield

Heightfield shape class. Height data is given as an array. These data points are spread out evenly with a given distance.

Todo

Should be possible to use along all axes, not just y

Todo

should be possible to scale along all axes

Todo

Refactor elementSize to elementSizeX and elementSizeY

Example

// Generate some height data (y-values).
    const data = []
    for (let i = 0; i < 1000; i++) {
        const y = 0.5 * Math.cos(0.2 * i)
        data.push(y)
    }

    // Create the heightfield shape
    const heightfieldShape = new CANNON.Heightfield(data, {
        elementSize: 1 // Distance between the data points in X and Y directions
    })
    const heightfieldBody = new CANNON.Body({ shape: heightfieldShape })
    world.addBody(heightfieldBody)

Hierarchy (view full)

Shape
- Heightfield

Constructors

constructor

new Heightfield(data, options?): Heightfield
Parameters
- data: number[][]
  An array of numbers, or height values, that are spread out along the x axis.
- Optional options: {
      elementSize?: number;
      maxValue?: number;
      minValue?: number;
  }
  - Optional elementSize?: number
    World spacing between the data points in X direction.
  - Optional maxValue?: number
    Max value of the data points in the data array. Will be computed automatically if not given.
  - Optional minValue?: number
    Minimum value of the data points in the data array. Will be computed automatically if not given.
Returns Heightfield
Overrides Shape.constructor

Properties

body

body: Body

The body to which the shape is added to.

boundingSphereRadius

boundingSphereRadius: number

The local bounding sphere radius of this shape.

cacheEnabled

cacheEnabled: boolean

Default

true

collisionFilterGroup

collisionFilterGroup: number

Default

collisionFilterMask

collisionFilterMask: number

Default

-1

collisionResponse

collisionResponse: boolean

Whether to produce contact forces when in contact with other bodies. Note that contacts will be generated, but they will be disabled.

Default

true

data

data: number[][]

An array of numbers, or height values, that are spread out along the x axis.

elementSize

elementSize: number

World spacing between the data points in X and Y direction.

Todo

elementSizeX and Y

Default

id

id: number

Identifier of the Shape.

material

material: Material

Optional material of the shape that regulates contact properties.

maxValue

maxValue: number

Max value of the data points in the data array.

minValue

minValue: number

Minimum value of the data points in the data array.

pillarConvex

pillarConvex: ConvexPolyhedron

pillarOffset

pillarOffset: Vec3

type

type: 0 | ShapeType

The type of this shape. Must be set to an int > 0 by subclasses.

`Static` idCounter

idCounter: number

`Static` types

types: {
    BOX: 4;
    COMPOUND: 8;
    CONVEXPOLYHEDRON: 16;
    CYLINDER: 128;
    HEIGHTFIELD: 32;
    PARTICLE: 64;
    PLANE: 2;
    SPHERE: 1;
    TRIMESH: 256;
}

All the Shape types.

Type declaration

Readonly BOX: 4
BOX
Readonly COMPOUND: 8
COMPOUND
Readonly CONVEXPOLYHEDRON: 16
CONVEXPOLYHEDRON
Readonly CYLINDER: 128
CYLINDER
Readonly HEIGHTFIELD: 32
HEIGHTFIELD
Readonly PARTICLE: 64
PARTICLE
Readonly PLANE: 2
PLANE
Readonly SPHERE: 1
SPHERE
Readonly TRIMESH: 256
TRIMESH

Methods

calculateLocalInertia

calculateLocalInertia(mass, target?): Vec3
Calculates the inertia in the local frame for this shape.
Parameters
- mass: number
- Optional target: Vec3
Returns Vec3
See
http://en.wikipedia.org/wiki/List_of_moments_of_inertia

Overrides Shape.calculateLocalInertia

calculateWorldAABB

calculateWorldAABB(pos, quat, min, max): void
Parameters
- pos: Vec3
- quat: Quaternion
- min: Vec3
- max: Vec3
Returns void
Todo
use abstract for these kind of methods

Overrides Shape.calculateWorldAABB

clearCachedConvexTrianglePillar

clearCachedConvexTrianglePillar(xi, yi, getUpperTriangle): void
Parameters
- xi: number
- yi: number
- getUpperTriangle: boolean
Returns void

getAabbAtIndex

getAabbAtIndex(xi, yi, result): void
Get an AABB of a square in the heightfield
Parameters
- xi: number
- yi: number
- result: AABB
Returns void

getCacheConvexTrianglePillarKey

getCacheConvexTrianglePillarKey(xi, yi, getUpperTriangle): string
Parameters
- xi: number
- yi: number
- getUpperTriangle: boolean
Returns string

getCachedConvexTrianglePillar

getCachedConvexTrianglePillar(xi, yi, getUpperTriangle): HeightfieldPillar
Parameters
- xi: number
- yi: number
- getUpperTriangle: boolean
Returns HeightfieldPillar

getConvexTrianglePillar

getConvexTrianglePillar(xi, yi, getUpperTriangle): void
Get a triangle in the terrain in the form of a triangular convex shape.
Parameters
- xi: number
- yi: number
- getUpperTriangle: boolean
Returns void

getHeightAt

getHeightAt(x, y, edgeClamp): number
Get the height in the heightfield at a given position
Parameters
- x: number
- y: number
- edgeClamp: boolean
Returns number

getIndexOfPosition

getIndexOfPosition(x, y, result, clamp): boolean
Get the index of a local position on the heightfield. The indexes indicate the rectangles, so if your terrain is made of N x N height data points, you will have rectangle indexes ranging from 0 to N-1.
Parameters
- x: number
- y: number
- result: number[]
  Two-element array
- clamp: boolean
  If the position should be clamped to the heightfield edge.
Returns boolean

getNormalAt

getNormalAt(x, y, edgeClamp, result): void
Parameters
- x: number
- y: number
- edgeClamp: boolean
- result: Vec3
Returns void

getRectMinMax

getRectMinMax(iMinX, iMinY, iMaxX, iMaxY, result?): void
Get max/min in a rectangle in the matrix data
Parameters
- iMinX: number
- iMinY: number
- iMaxX: number
- iMaxY: number
- Optional result: number[]
  An array to store the results in.
Returns void
The result array, if it was passed in. Minimum will be at position 0 and max at 1.

getTriangle

getTriangle(xi, yi, upper, a, b, c): void
Get a triangle from the heightfield
Parameters
- xi: number
- yi: number
- upper: boolean
- a: Vec3
- b: Vec3
- c: Vec3
Returns void

getTriangleAt

getTriangleAt(x, y, edgeClamp, a, b, c): boolean
Parameters
- x: number
- y: number
- edgeClamp: boolean
- a: Vec3
- b: Vec3
- c: Vec3
Returns boolean

setCachedConvexTrianglePillar

setCachedConvexTrianglePillar(xi, yi, getUpperTriangle, convex, offset): void
Parameters
- xi: number
- yi: number
- getUpperTriangle: boolean
- convex: ConvexPolyhedron
- offset: Vec3
Returns void

setHeightValueAtIndex

setHeightValueAtIndex(xi, yi, value): void
Set the height value at an index. Don't forget to update maxValue and minValue after you're done.
Parameters
- xi: number
- yi: number
- value: number
Returns void

setHeightsFromImage

setHeightsFromImage(image, scale): void
Sets the height values from an image. Currently only supported in browser.
Parameters
- image: HTMLImageElement
- scale: Vec3
Returns void

update

update(): void
Call whenever you change the data array.

Returns void

updateBoundingSphereRadius

updateBoundingSphereRadius(): void
Computes the bounding sphere radius. The result is stored in the property .boundingSphereRadius

Returns void
Overrides Shape.updateBoundingSphereRadius

updateMaxValue

updateMaxValue(): void
Update the maxValue property

Returns void

updateMinValue

updateMinValue(): void
Update the minValue property

Returns void

volume

volume(): number
Get the volume of this shape

Returns number
Overrides Shape.volume

Class Heightfield

Todo

Todo

Todo

Example

Hierarchy (view full)

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

data: number[][]

Optional options: { elementSize?: number; maxValue?: number; minValue?: number; }

Optional elementSize?: number

Optional maxValue?: number

Optional minValue?: number

Returns Heightfield

Properties

body

boundingSphereRadius

cacheEnabled

Default

collisionFilterGroup

Default

collisionFilterMask

Default

collisionResponse

Default

data

elementSize

Todo

Default

id

material

maxValue

minValue

pillarConvex

pillarOffset

type

Static idCounter

Static types

Type declaration

Readonly BOX: 4

Readonly COMPOUND: 8

Readonly CONVEXPOLYHEDRON: 16

Readonly CYLINDER: 128

Readonly HEIGHTFIELD: 32

Readonly PARTICLE: 64

Readonly PLANE: 2

Readonly SPHERE: 1

Readonly TRIMESH: 256

Methods

calculateLocalInertia

Parameters

mass: number

Optional target: Vec3

Returns Vec3

See

calculateWorldAABB

Parameters

pos: Vec3

quat: Quaternion

min: Vec3

max: Vec3

Returns void

Todo

clearCachedConvexTrianglePillar

Parameters

xi: number

yi: number

getUpperTriangle: boolean

Returns void

getAabbAtIndex

Parameters

xi: number

yi: number

result: AABB

Returns void

`Optional` options: {
elementSize?: number;
maxValue?: number;
minValue?: number;
}

`Optional` elementSize?: number

`Optional` maxValue?: number

`Optional` minValue?: number

`Static` idCounter

`Static` types

`Readonly` BOX: 4

`Readonly` COMPOUND: 8

`Readonly` CONVEXPOLYHEDRON: 16

`Readonly` CYLINDER: 128

`Readonly` HEIGHTFIELD: 32

`Readonly` PARTICLE: 64

`Readonly` PLANE: 2

`Readonly` SPHERE: 1

`Readonly` TRIMESH: 256

`Optional` target: Vec3

`Optional` result: number[]