VerticalPlane.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/CSetOfObjects.h>
#include <mrpt/opengl/CSetOfTexturedTriangles.h>
#include <mrpt/opengl/CTexturedPlane.h>
#include <mvsim/WorldElements/WorldElementBase.h>

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

        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
        // ------- Interface with "World" ------
        void simul_pre_timestep(const TSimulContext& context) override;
        void simul_post_timestep(const TSimulContext& context) override;

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

        float x0_ = -10, x1_ = -10, y0_ = -10, y1_ = 10;
        mrpt::img::TColor color_ = {0xa0, 0xa0, 0xa0, 0xff};
        bool enableShadows_ = true;

        std::string textureFileName_;
        double textureSizeX_ = 1.0;
        double textureSizeY_ = 1.0;

        float z_ = .0f, height_ = 3.0f;
        std::string cull_faces_ = "NONE";

        mrpt::opengl::CTexturedPlane::Ptr gl_plane_;
        mrpt::opengl::CSetOfTexturedTriangles::Ptr gl_plane_text_;
        mrpt::opengl::CSetOfObjects::Ptr glGroup_;

        b2Body* b2dBody_ = nullptr;
        double restitution_ = 0.01;      
        b2Fixture* fixture_block_ = nullptr;
};
}  // namespace mvsim