GroundGrid.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/img/TColor.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mvsim/WorldElements/WorldElementBase.h>

namespace mvsim
{
class GroundGrid : public WorldElementBase
{
        DECLARES_REGISTER_WORLD_ELEMENT(GroundGrid)
   public:
        GroundGrid(World* parent, const rapidxml::xml_node<char>* root);
        virtual ~GroundGrid();

        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        bool is_floating_;
        std::string float_center_at_vehicle_name_;
        double x_min_, x_max_, y_min_, y_max_, interval_;
        mrpt::img::TColor color_;
        double line_width_;

        mrpt::opengl::CGridPlaneXY::Ptr gl_groundgrid_;
};
}  // namespace mvsim