Rendering a terrain using heightmap information. More...

#include <rendering/rendering.hh>

Public Member Functions
	Heightmap (ScenePtr _scene)
	Constructor. More...

virtual	~Heightmap ()
	Destructor. More...

bool	Flatten (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Flatten the terrain based on a mouse press. More...

double	GetAvgHeight (Ogre::Vector3 _pos, double _brushSize)
	Get the average height around a point. More...

double	GetHeight (double _x, double _y, double _z=1000)
	Get the height at a location. More...

common::Image	GetImage () const
	Get the heightmap as an image. More...

Ogre::TerrainGroup::RayResult	GetMouseHit (CameraPtr _camera, math::Vector2i _mousePos)
	Calculate a mouse ray hit on the terrain. More...

Ogre::TerrainGroup *	GetOgreTerrain () const
	Get a pointer to the OGRE terrain group object. More...

unsigned int	GetTerrainSubdivisionCount () const
	Get the number of subdivision the terrain will be split into. More...

void	Load ()
	Load the heightmap. More...

void	LoadFromMsg (ConstVisualPtr &_msg)
	Load the heightmap from a visual message. More...

bool	Lower (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Lower the terrain based on a mouse press. More...

bool	Raise (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Raise the terrain based on a mouse press. More...

void	SetWireframe (bool _show)
	Set the heightmap to render in wireframe mode. More...

bool	Smooth (CameraPtr _camera, math::Vector2i _mousePos, double _outsideRadius, double _insideRadius, double _weight=0.1)
	Smooth the terrain based on a mouse press. More...

void	SplitHeights (const std::vector< float > &_heightmap, int _n, std::vector< std::vector< float > > &_v)
	Split a terrain into subterrains. More...

Static Public Attributes
static const unsigned int	NumTerrainSubdivisions
	DO NOT USE THIS. This is here for ABI compatibilty reasons. More...

Detailed Description

Rendering a terrain using heightmap information.

Constructor & Destructor Documentation

gazebo::rendering::Heightmap::Heightmap ( ScenePtr _scene )

Constructor.

Parameters

[in] _scene Pointer to the scene that will contain the heightmap

virtual gazebo::rendering::Heightmap::~Heightmap ( )

virtual

Destructor.

Member Function Documentation

bool gazebo::rendering::Heightmap::Flatten	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Flatten the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

double gazebo::rendering::Heightmap::GetAvgHeight	(	Ogre::Vector3	_pos,
		double	_brushSize
	)

Get the average height around a point.

Parameters

[in]	_pos	Position in world coordinates.
[in]	_brushSize	Controls the radius of effect.

double gazebo::rendering::Heightmap::GetHeight	(	double	_x,
		double	_y,
		double	_z = `1000`
	)

Get the height at a location.

Parameters

[in]	_x	X location
[in]	_y	Y location
[in]	_z	Z location

Returns: The height at the specified location

common::Image gazebo::rendering::Heightmap::GetImage ( ) const

Get the heightmap as an image.

Returns: An image that contains the terrain data.

Ogre::TerrainGroup::RayResult gazebo::rendering::Heightmap::GetMouseHit	(	CameraPtr	_camera,
		math::Vector2i	_mousePos
	)

Calculate a mouse ray hit on the terrain.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.

Returns: The result of the mouse ray hit.

Ogre::TerrainGroup* gazebo::rendering::Heightmap::GetOgreTerrain ( ) const

Get a pointer to the OGRE terrain group object.

Returns: Pointer to the OGRE terrain.

unsigned int gazebo::rendering::Heightmap::GetTerrainSubdivisionCount ( ) const

Get the number of subdivision the terrain will be split into.

Returns: Number of terrain subdivisions

void gazebo::rendering::Heightmap::Load ( )

Load the heightmap.

void gazebo::rendering::Heightmap::LoadFromMsg ( ConstVisualPtr & _msg )

Load the heightmap from a visual message.

Parameters

[in] _msg The visual message containing heightmap info

bool gazebo::rendering::Heightmap::Lower	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Lower the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

bool gazebo::rendering::Heightmap::Raise	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Raise the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

void gazebo::rendering::Heightmap::SetWireframe ( bool _show )

Set the heightmap to render in wireframe mode.

Parameters

[in] _show True to render wireframe, false to render solid.

bool gazebo::rendering::Heightmap::Smooth	(	CameraPtr	_camera,
		math::Vector2i	_mousePos,
		double	_outsideRadius,
		double	_insideRadius,
		double	_weight = `0.1`
	)

Smooth the terrain based on a mouse press.

Parameters

[in]	_camera	Camera associated with the mouse press.
[in]	_mousePos	Position of the mouse in viewport coordinates.
[in]	_outsideRadius	Controls the radius of effect.
[in]	_insideRadius	Controls the size of the radius with the maximum effect (value between 0 and 1).
[in]	_weight	Controls modification magnitude.

Returns: True if the terrain was modified

void gazebo::rendering::Heightmap::SplitHeights	(	const std::vector< float > &	_heightmap,
		int	_n,
		std::vector< std::vector< float > > &	_v
	)

Split a terrain into subterrains.

Parameters

[in]	_heightmap	Source vector of floats with the heights.
[in]	_n	Number of subterrains.
[out]	_v	Destination vector with the subterrains.

Member Data Documentation

const unsigned int gazebo::rendering::Heightmap::NumTerrainSubdivisions

static

DO NOT USE THIS. This is here for ABI compatibilty reasons.

The documentation for this class was generated from the following file:

Heightmap.hh

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation