ElevationMap.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  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/CImage.h>
#include <mrpt/opengl/CMesh.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
#include <vector>
 
namespace mvsim
{
class ElevationMap : public WorldElementBase
{
        DECLARES_REGISTER_WORLD_ELEMENT(ElevationMap)
   public:
        ElevationMap(World* parent, const rapidxml::xml_node<char>* root);
        virtual ~ElevationMap();
 
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
 
        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;
 
        std::optional<float> getElevationAt(const mrpt::math::TPoint2D& pt) const override;
 
   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical, bool childrenOnly) override;
 
        std::vector<mrpt::opengl::CMesh::Ptr> gl_meshes_;
        bool firstSceneRendering_ = true;
        double resolution_ = 1.0f;
 
        double textureExtensionX_ = 0;  
        double textureExtensionY_ = 0;  
 
        mrpt::math::CMatrixDouble meshCacheZ_;
        double meshMinX_ = 0, meshMaxX_ = 0, meshMinY_ = 0, meshMaxY_ = 0;
 
        double model_split_size_ = .0f;
};
}  // namespace mvsim