Height Map Using the Terrain Generator

XML approach

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

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

The XML file is equivalent to the following (the asset uses the snake_case spellings x_sample, z_scale, fractal_octaves, ...; the reader accepts both). In terrainProperties, frequency, zScale, fractalOctaves, fractalLacunarity, fractalGain, stepSize, and seed are required; heightOffset is optional.

<?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="50" ySample="50" xSize="20" ySize="20" centerX="0" centerY="0">
            <terrainProperties frequency="0.2" zScale="3.0" fractalOctaves="3" fractalLacunarity="2.0" fractalGain="0.25" stepSize="0" heightOffset="0" seed="0"/>
        </heightmap>
    </objects>
</raisim>

The terrain is fractal Perlin noise. frequency sets the base noise frequency (cycles per meter), zScale the height range in meters, and each of the fractalOctaves octaves multiplies the frequency by fractalLacunarity and the amplitude by fractalGain. A positive stepSize quantizes heights into steps. These parameters interact, so expect to adjust them until the terrain has the shape you want.

C++ approach

The same terrain in C++. seed is set explicitly because its C++ default differs from the seed="0" used in the XML file:

raisim::TerrainProperties terrainProperties;
terrainProperties.frequency = 0.2;
terrainProperties.zScale = 3.0;
terrainProperties.xSize = 20.0;
terrainProperties.ySize = 20.0;
terrainProperties.xSamples = 50;
terrainProperties.ySamples = 50;
terrainProperties.fractalOctaves = 3;
terrainProperties.fractalLacunarity = 2.0;
terrainProperties.fractalGain = 0.25;
terrainProperties.seed = 0;

auto hm = world.addHeightMap(0.0, 0.0, terrainProperties);