OccupancyGridMap.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/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSinCosLookUpTableFor2DScans.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/poses/CPose2D.h>
#include <mvsim/WorldElements/WorldElementBase.h>

#include <mutex>

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

        void doLoadConfigFrom(const rapidxml::xml_node<char>* root);

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

        virtual void simul_pre_timestep(const TSimulContext& context) override;

        const mrpt::maps::COccupancyGridMap2D& getOccGrid() const { return grid_; }
        mrpt::maps::COccupancyGridMap2D& getOccGrid() { return grid_; }

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

        mrpt::maps::COccupancyGridMap2D grid_;

        bool gui_uptodate_;      
        mrpt::opengl::CSetOfObjects::Ptr gl_grid_;

        struct TFixturePtr
        {
                TFixturePtr() = default;
                b2Fixture* fixture = nullptr;
        };

        struct TInfoPerCollidableobj
        {
                TInfoPerCollidableobj() = default;

                mrpt::poses::CPose2D pose;
                b2Body* collide_body = nullptr;
                mrpt::obs::CObservation2DRangeScan::Ptr scan;
                std::vector<TFixturePtr> collide_fixtures;
                float max_obstacles_ranges = 0;
        };

        std::vector<TInfoPerCollidableobj> obstacles_for_each_obj_;
        std::vector<mrpt::opengl::CSetOfObjects::Ptr> gl_obs_clouds_;

        std::mutex gl_obs_clouds_buffer_cs_;
        std::vector<mrpt::opengl::CPointCloud::Ptr> gl_obs_clouds_buffer_;

        mrpt::obs::CSinCosLookUpTableFor2DScans sincos_lut_;

        bool show_grid_collision_points_;
        double restitution_;  
        double lateral_friction_;  
};
}  // namespace mvsim