380 lines
16 KiB
C++
380 lines
16 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_RENDERING_HEIGHTMAP_HH_
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#define _GAZEBO_RENDERING_HEIGHTMAP_HH_
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#include <vector>
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#include <string>
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#include <ignition/math/Vector3.hh>
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#include <ignition/math/Vector2.hh>
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/util/system.hh"
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namespace boost
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{
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namespace filesystem
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{
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class path;
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}
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}
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namespace Ogre
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{
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class TerrainGroup;
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class Terrain;
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}
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namespace gazebo
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{
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namespace math
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{
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class Vector2i;
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}
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namespace common
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{
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class Image;
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}
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namespace rendering
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{
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// Forward declare private data.
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class HeightmapPrivate;
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class Heightmap Heightmap.hh rendering/rendering.hh
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/// \brief Rendering a terrain using heightmap information
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class GZ_RENDERING_VISIBLE Heightmap
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{
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/// \brief Constructor
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/// \param[in] _scene Pointer to the scene that will contain the heightmap
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public: Heightmap(ScenePtr _scene);
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/// \brief Destructor
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public: virtual ~Heightmap();
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/// \brief Load the heightmap
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public: void Load();
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/// \brief Load the heightmap from a visual message
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/// \param[in] _msg The visual message containing heightmap info
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public: void LoadFromMsg(ConstVisualPtr &_msg);
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/// \brief Get the height at a location
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/// \param[in] _x X location
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/// \param[in] _y Y location
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/// \param[in] _z Z location
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/// \return The height at the specified location
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/// \deprecated See Height()
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public: double GetHeight(double _x, double _y, double _z = 1000)
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the height at a location
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/// \param[in] _x X location
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/// \param[in] _y Y location
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/// \param[in] _z Z location
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/// \return The height at the specified location
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public: double Height(const double _x, const double _y,
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const double _z = 1000) const;
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/// \brief Flatten the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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/// \deprecated See function that accepts an ignition::math parameter.
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public: bool Flatten(CameraPtr _camera, math::Vector2i _mousePos,
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double _outsideRadius, double _insideRadius,
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double _weight = 0.1) GAZEBO_DEPRECATED(7.0);
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/// \brief Flatten the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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public: bool Flatten(CameraPtr _camera,
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const ignition::math::Vector2i &_mousePos,
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const double _outsideRadius,
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const double _insideRadius,
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const double _weight = 0.1);
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/// \brief Smooth the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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/// \deprecated See function that accepts an ignition::math parameter.
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public: bool Smooth(CameraPtr _camera, math::Vector2i _mousePos,
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double _outsideRadius, double _insideRadius,
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double _weight = 0.1) GAZEBO_DEPRECATED(7.0);
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/// \brief Smooth the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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public: bool Smooth(CameraPtr _camera,
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const ignition::math::Vector2i &_mousePos,
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const double _outsideRadius,
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const double _insideRadius,
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const double _weight = 0.1);
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/// \brief Raise the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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/// \deprecated See function that accepts an ignition::math parameter.
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public: bool Raise(CameraPtr _camera, math::Vector2i _mousePos,
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double _outsideRadius, double _insideRadius,
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double _weight = 0.1) GAZEBO_DEPRECATED(7.0);
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/// \brief Raise the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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public: bool Raise(CameraPtr _camera,
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const ignition::math::Vector2i &_mousePos,
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const double _outsideRadius,
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const double _insideRadius,
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const double _weight = 0.1);
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/// \brief Lower the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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/// \deprecated See function that accepts an ignition::math parameter.
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public: bool Lower(CameraPtr _camera, math::Vector2i _mousePos,
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double _outsideRadius, double _insideRadius,
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double _weight = 0.1) GAZEBO_DEPRECATED(7.0);
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/// \brief Lower the terrain based on a mouse press.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \return True if the terrain was modified
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public: bool Lower(CameraPtr _camera,
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const ignition::math::Vector2i &_mousePos,
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const double _outsideRadius,
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const double _insideRadius,
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const double _weight = 0.1);
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/// \brief Get the average height around a point.
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/// \param[in] _pos Position in world coordinates.
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/// \param[in] _brushSize Controls the radius of effect.
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/// \deprecated See AvgHeight()
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public: double GetAvgHeight(Ogre::Vector3 _pos, double _brushSize)
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the average height around a point.
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/// \param[in] _pos Position in world coordinates.
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/// \param[in] _brushSize Controls the radius of effect.
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public: double AvgHeight(const ignition::math::Vector3d &_pos,
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const double _brushSize) const;
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/// \brief Set the heightmap to render in wireframe mode.
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/// \param[in] _show True to render wireframe, false to render solid.
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public: void SetWireframe(const bool _show);
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/// \brief Get a pointer to the OGRE terrain group object.
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/// \return Pointer to the OGRE terrain.
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/// \deprecated See OgreTerrain()
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public: Ogre::TerrainGroup *GetOgreTerrain() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get a pointer to the OGRE terrain group object.
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/// \return Pointer to the OGRE terrain.
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public: Ogre::TerrainGroup *OgreTerrain() const;
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/// \brief Get the heightmap as an image
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/// \return An image that contains the terrain data.
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/// \deprecated See Image()
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public: common::Image GetImage() const GAZEBO_DEPRECATED(7.0);
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/// \brief Get the heightmap as an image
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/// \return An image that contains the terrain data.
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public: common::Image Image() const;
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/// \brief Calculate a mouse ray hit on the terrain.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \return The result of the mouse ray hit.
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/// \deprecated See MouseHit()
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public: Ogre::TerrainGroup::RayResult GetMouseHit(CameraPtr _camera,
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math::Vector2i _mousePos) GAZEBO_DEPRECATED(7.0);
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/// \brief Calculate a mouse ray hit on the terrain.
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/// \param[in] _camera Camera associated with the mouse press.
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/// \param[in] _mousePos Position of the mouse in viewport
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/// coordinates.
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/// \return The result of the mouse ray hit.
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public: Ogre::TerrainGroup::RayResult MouseHit(CameraPtr _camera,
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const ignition::math::Vector2i &_mousePos) const;
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/// \brief Split a terrain into subterrains
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/// \param[in] _heightmap Source vector of floats with the heights.
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/// \param[in] _n Number of subterrains.
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/// \param[out] _v Destination vector with the subterrains.
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public: void SplitHeights(const std::vector<float> &_heightmap,
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const int _n, std::vector<std::vector<float> > &_v);
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/// \brief Get the number of subdivision the terrain will be split
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/// into.
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/// \return Number of terrain subdivisions
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/// \deprecated See TerrainSubdivisionCount()
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public: unsigned int GetTerrainSubdivisionCount() const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get the number of subdivision the terrain will be split
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/// into.
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/// \return Number of terrain subdivisions
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public: unsigned int TerrainSubdivisionCount() const;
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/// \brief Set custom material for the terrain
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/// \param[in] _materialName Name of the material
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public: void SetMaterial(const std::string &_materialName);
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/// \brief Get the custom material name used for the terrain.
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/// \return Custom material name.
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public: std::string MaterialName() const;
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/// \brief Set the Level Of Detail (LOD) for the heightmap.
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/// \param[in] _value A render-engine specific value used to compute LOD.
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/// In Ogre, this is the max pixel error that should be allowed when
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/// rendering the heightmap. Default is 0, i.e. LOD is disabled.
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/// Note: enabling LOD means that the rendering engine will be allowed to
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/// morph mesh vertices, resulting in a simplified visual that may be
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/// different from the collision.
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public: void SetLOD(const unsigned int _value);
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/// \brief Get the heightmap Level of Detail (LOD) value
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/// \return Value used to compute LOD.
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public: unsigned int LOD() const;
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/// \brief Set the skirt length for the heightmap LOD tiles.
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/// \param[in] _value LOD tile skirts hide potential gaps between
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/// tiles of different detail levels.
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public: void SetSkirtLength(const double _value);
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/// \brief Get the skirt length of LOD tiles
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/// \return Skirt length of LOD tiles
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public: double SkirtLength() const;
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/// \brief Create terrain material generator. There are two types:
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/// custom material generator that support user material scripts,
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/// and a default material generator that uses our own glsl shader
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/// and supports PSSM shadows.
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private: void CreateMaterial();
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/// \brief Modify the height at a specific point.
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/// \param[in] _pos Position in world coordinates.
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/// \param[in] _outsideRadius Controls the radius of effect.
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/// \param[in] _insideRadius Controls the size of the radius with the
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/// maximum effect (value between 0 and 1).
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/// \param[in] _weight Controls modification magnitude.
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/// \param[in] _op Type of operation to perform.
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private: void ModifyTerrain(Ogre::Vector3 _pos,
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const double _outsideRadius, const double _insideRadius,
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const double _weight, const std::string &_op);
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/// \brief Initialize all the blend material maps.
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/// \param[in] _terrain The terrain to initialize the blend maps.
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private: bool InitBlendMaps(Ogre::Terrain *_terrain);
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/// \brief Configure the terrain default values.
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private: void ConfigureTerrainDefaults();
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/// \brief Define a section of the terrain.
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/// \param[in] _x X coordinate of the terrain.
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/// \param[in] _y Y coordinate of the terrain.
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private: void DefineTerrain(const int _x, const int _y);
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/// \brief Internal function used to setup shadows for the terrain.
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/// \param[in] _enabled True to enable shadows.
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private: void SetupShadows(const bool _enabled);
|
||
|
|
|
||
|
|
/// \brief Update the hash of a terrain file. The hash will be written in
|
||
|
|
/// a file called gzterrain.SHA1 . This method will be used when the
|
||
|
|
/// paging is enabled and the terrain is loaded for the first time or if
|
||
|
|
/// the heightmap's image has been modified.
|
||
|
|
/// \param[in] _hash New hash value
|
||
|
|
/// \param[in] _terrainDir Directory where the terrain hash and the
|
||
|
|
/// terrain pages are stored. Ex: $TMP/gazebo-paging/heigthmap_bowl
|
||
|
|
private: void UpdateTerrainHash(const std::string &_hash,
|
||
|
|
const boost::filesystem::path &_terrainDir);
|
||
|
|
|
||
|
|
/// \brief Checks if the terrain was previously loaded by comparing its
|
||
|
|
/// hash against the one stored in the terrain directory
|
||
|
|
/// \param[in] _terrainDirPath Path to the directory containing the
|
||
|
|
/// terrain files and hash.
|
||
|
|
/// \return True if the terrain requires to regenerate the terrain files.
|
||
|
|
private: bool PrepareTerrain(
|
||
|
|
const boost::filesystem::path &_terrainDirPath);
|
||
|
|
|
||
|
|
/// \brief Save the heightmap tiles to disk
|
||
|
|
private: void SaveHeightmap();
|
||
|
|
|
||
|
|
/// \internal
|
||
|
|
/// \brief Pointer to private data.
|
||
|
|
private: std::unique_ptr<HeightmapPrivate> dataPtr;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|