Height Map Using Raw Values

XML approach

The matching asset is rsc/xmlScripts/heightMaps/heightMapUsingRawValues.xml. Load it through the world configuration constructor in your application:

raisim::World world("/path/to/raisim2Lib/rsc/xmlScripts/heightMaps/heightMapUsingRawValues.xml");

The XML file is constructed as follows:

<?xml version="1.0" ?>
<raisim version="2.0.0">
    <timeStep value="0.001"/>
    <objects>
        <sphere name="sphere" mass="1">
            <dim radius="0.5" />
            <inertia xx="0.1" xy="0" xz="0" yy="0.1" yz="0" zz="0.1" />
            <state pos="0 0 5" quat="1 0 0 0" linVel="0 0 0" angVel="0 0 0" />
        </sphere>
        <capsule name="capsule" mass="1">
            <dim radius="0.5" height="1" />
            <inertia xx="0.1" xy="0" xz="0" yy="0.1" yz="0" zz="0.1" />
            <state pos="1 0 5" quat="1 0 0 0" linVel="0 0 0" angVel="0 0 0" />
        </capsule>
        <box name="box" mass="1">
            <dim x="0.5" y="1" z="2"/>
            <inertia xx="0.1" xy="0" xz="0" yy="0.1" yz="0" zz="0.1" />
            <state pos="1 1 5" quat="1 0 0 0" linVel="0 0 0" angVel="0 0 0" />
        </box>
        <heightmap name="terrain" xSample="5" ySample="5" xSize="10" ySize="10" centerX="0" centerY="0"
                  height="1 1 1 1 1 1 0 0 0 1 1 0.5 0 0 1 1 0 0 0 1 1 1 1 1 1"/>
    </objects>
</raisim>

C++ approach

std::vector<double> height = {
  1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0.5, 0,
  0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1
};
auto* heightMap = world.addHeightMap(5, 5, 10, 10, 0, 0, height);