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Rebuild scenes on terrain changes for dynamic heighfields

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This commit is contained in:
Bálint Hodossy
2023-12-07 13:34:33 +00:00
parent 3e3687d022
commit 2adfd09b87
2 changed files with 47 additions and 6 deletions
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unity/Runtime/Tools/MjcfGenerationContext.cs
+4 -3
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@@ -115,13 +115,14 @@ public class MjcfGenerationContext {
mjcf.SetAttribute("vertex", vertexPositionsStr.ToString());
}
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
private static void GenerateHeightFieldMjcf(MjHeightFieldShape hFieldComponent, XmlElement mjcf) {
mjcf.SetAttribute("nrow", "0");
mjcf.SetAttribute("ncol", "0");
mjcf.SetAttribute("content_type", "image/png");
mjcf.SetAttribute("file", hFieldComponent.FullHeightMapPath);
mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapHeight/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {hFieldComponent.HeightMapScale.y} {hFieldComponent.terrain.transform.localPosition.y}"));
var baseHeight = hFieldComponent.terrain.transform.localPosition.y + hFieldComponent.MinimumHeight;
var heightRange = Mathf.Clamp(hFieldComponent.MaximumHeight - hFieldComponent.MinimumHeight, 0.00001f, Mathf.Infinity);
mjcf.SetAttribute("size", MjEngineTool.MakeLocaleInvariant($"{hFieldComponent.HeightMapScale.x*hFieldComponent.HeightMapLength/2} {hFieldComponent.HeightMapScale.z * hFieldComponent.HeightMapWidth/2} {heightRange} {baseHeight}"));
}
}