Accessing Terrain Features

Intro

Accessing the underlying simulator in order to compute things such as a local heightmap of the terrain can be done simply. However, adding additional features can be more complex.

Terrain Height

cTerrainRLCharController holds the pointer to the ground. With the ground the hight can be sampled at any particular position.

double h = mGround->SampleHeight(pos);

Terrain Velocity

bool cTerrainRLCharController::SampleGroundHeightVel(const tVector& pos, double& out_h, tVector& out_vel) const
{
	bool valid_sample = false;
	out_h = 0;
	out_vel.setZero();
	
	if (mGround != nullptr)
	{
		mGround->SampleHeightVel(pos, out_h, out_vel, valid_sample);
	}
	return valid_sample;
}

This should end up calling a method in the class cGroundDynamicObstacles3D that will see if the location intersects with an obstacle. if it does it will return the object velocity.

Note: The ground is given to the controller when it is created in cTerrainRLCtrlFactory