Heightmap.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Heightmap geometry
 * Author: Nate Koenig
 * Date: 12 May 2009
 */

#ifndef _HEIGHTMAP_HH_
#define _HEIGHTMAP_HH_

#include <string>
#include <vector>

#include "common/Image.hh"
#include "math/Vector3.hh"
#include "math/Vector2d.hh"
#include "rendering/Scene.hh"

namespace Ogre
{
  class TerrainGlobalOptions;
  class TerrainGroup;
  class Terrain;
}

namespace gazebo
{
  namespace rendering
  {

    class Heightmap
    {
      public: Heightmap(ScenePtr _scene);

      public: virtual ~Heightmap();

      public: void Load();

      public: void LoadFromMsg(ConstVisualPtr &_msg);

      public: double GetHeight(double _x, double _y, double _z = 1000);

      private: bool InitBlendMaps(Ogre::Terrain *_terrain);

      private: void ConfigureTerrainDefaults();

      private: void DefineTerrain(int _x, int _y);

      private: ScenePtr scene;

      private: common::Image heightImage;

      private: math::Vector3 terrainSize;

      private: unsigned int imageSize;

      private: double maxPixel;

      private: math::Vector3 terrainOrigin;

      private: Ogre::TerrainGlobalOptions *terrainGlobals;

      private: Ogre::TerrainGroup *terrainGroup;

      private: bool terrainsImported;

      private: std::vector<std::string> diffuseTextures;

      private: std::vector<std::string> normalTextures;

      private: std::vector<double> worldSizes;

      private: std::vector<double> blendHeight;

      private: std::vector<double> blendFade;
    };
  }
}
#endif