Height Map Using a Text File

An example text file (rsc/xmlScripts/heightMaps/heightMapExample.txt) is shown below:

5 5 10 10
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

The numbers in the first line are xSamples, ySamples, xSize, and ySize, respectively. The remaining numbers are the xSamples * ySamples height values, row by row (x varies fastest). Values are separated by whitespace, so line breaks are optional. A file with the wrong number of height values is a fatal error.

XML approach

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

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

The XML file is equivalent to the following (the asset uses the snake_case spellings center_x, lin_vel, …; the reader accepts both). [THIS_DIR] expands to the directory of the XML file.

<?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" text="[THIS_DIR]/heightMapExample.txt" centerX="0" centerY="0"/>
    </objects>
</raisim>

C++ approach

The arguments are the file path, centerX, and centerY:

auto hm = world.addHeightMap("<PATH-TO-TEXT-FILE>/heightMapExample.txt", 0, 0);