Heightmap.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * 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 <boost/filesystem.hpp>

#include "gazebo/rendering/ogre_gazebo.h"
#include "gazebo/common/Image.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Vector2d.hh"
#include "gazebo/rendering/Scene.hh"
#include "gazebo/util/system.hh"

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

namespace gazebo
{
  namespace rendering
  {
    class GzTerrainMatGen;

    class GAZEBO_VISIBLE DummyPageProvider : public Ogre::PageProvider
    {
      public: bool prepareProceduralPage(Ogre::Page*, Ogre::PagedWorldSection*)
      {
        return true;
      }

      public: bool loadProceduralPage(Ogre::Page*, Ogre::PagedWorldSection*)
      {
        return true;
      }

      public: bool unloadProceduralPage(Ogre::Page*, Ogre::PagedWorldSection*)
      {
        return true;
      }

      public:
          bool unprepareProceduralPage(Ogre::Page*, Ogre::PagedWorldSection*)
      {
        return true;
      }
    };


    class GAZEBO_VISIBLE 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);

      public: bool Flatten(CameraPtr _camera, math::Vector2i _mousePos,
                         double _outsideRadius, double _insideRadius,
                         double _weight = 0.1);

      public: bool Smooth(CameraPtr _camera, math::Vector2i _mousePos,
                         double _outsideRadius, double _insideRadius,
                         double _weight = 0.1);

      public: bool Raise(CameraPtr _camera, math::Vector2i _mousePos,
                         double _outsideRadius, double _insideRadius,
                         double _weight = 0.1);

      public: bool Lower(CameraPtr _camera, math::Vector2i _mousePos,
                         double _outsideRadius, double _insideRadius,
                         double _weight = 0.1);

      public: double GetAvgHeight(Ogre::Vector3 _pos, double _brushSize);

      public: void SetWireframe(bool _show);

      public: Ogre::TerrainGroup *GetOgreTerrain() const;

      public: common::Image GetImage() const;

      public: Ogre::TerrainGroup::RayResult GetMouseHit(CameraPtr _camera,
                  math::Vector2i _mousePos);

      public: void SplitHeights(const std::vector<float> &_heightmap, int _n,
                  std::vector<std::vector<float> > &_v);

      public: unsigned int GetTerrainSubdivisionCount() const;

      private: void ModifyTerrain(Ogre::Vector3 _pos, double _outsideRadius,
                   double _insideRadius, double _weight,
                   const std::string &_op);

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

      private: void ConfigureTerrainDefaults();

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

      private: void SetupShadows(bool _enabled);

      private: void UpdateTerrainHash(const std::string &_hash,
          const boost::filesystem::path &_terrainDir);

      private: bool PrepareTerrainPaging(
        const boost::filesystem::path &_terrainDirPath);

      private: static const unsigned int numTerrainSubdivisions;

      private: static const double loadRadiusFactor;

      private: static const double holdRadiusFactor;

      private: static const boost::filesystem::path hashFilename;

      private: static const boost::filesystem::path pagingDirname;

      private: boost::filesystem::path gzPagingDir;

      private: ScenePtr scene;

      private: common::Image heightImage;

      private: math::Vector3 terrainSize;

      private: unsigned int dataSize;

      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;

      private: std::vector<float> heights;

      private: GzTerrainMatGen *gzMatGen;

      private: DummyPageProvider dummyPageProvider;

      private: Ogre::PageManager *pageManager;

      private: Ogre::TerrainPaging *terrainPaging;

      private: Ogre::PagedWorld *world;

      private: std::vector<std::vector<float> > subTerrains;

      private: int terrainIdx;

      private: bool useTerrainPaging;

      private: bool terrainHashChanged;
    };

    class GAZEBO_VISIBLE GzTerrainMatGen
      : public Ogre::TerrainMaterialGeneratorA
    {
      public: GzTerrainMatGen();

      public: virtual ~GzTerrainMatGen();

      public: class SM2Profile :
              public Ogre::TerrainMaterialGeneratorA::SM2Profile
      {
        public: SM2Profile(Ogre::TerrainMaterialGenerator *_parent,
                    const Ogre::String &_name, const Ogre::String &_desc);

        public: virtual ~SM2Profile();

        public: Ogre::MaterialPtr generate(const Ogre::Terrain *_terrain);

        public: Ogre::MaterialPtr generateForCompositeMap(
                    const Ogre::Terrain *_terrain);

        public: void UpdateParams(const Ogre::MaterialPtr &_mat,
                                  const Ogre::Terrain *_terrain);

        public: void UpdateParamsForCompositeMap(const Ogre::MaterialPtr &_mat,
                                                 const Ogre::Terrain *_terrain);

        protected: virtual void addTechnique(const Ogre::MaterialPtr &_mat,
                       const Ogre::Terrain *_terrain, TechniqueType _tt);

#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Woverloaded-virtual"
#endif  // ifdef __clang__
        protected: class ShaderHelperGLSL :
            public Ogre::TerrainMaterialGeneratorA::SM2Profile::ShaderHelperGLSL
        {
          public: virtual Ogre::HighLevelGpuProgramPtr generateVertexProgram(
                      const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                      TechniqueType _tt);

          public: virtual Ogre::HighLevelGpuProgramPtr generateFragmentProgram(
                      const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                      TechniqueType _tt);

          public: virtual void updateParams(const SM2Profile *_prof,
                      const Ogre::MaterialPtr &_mat,
                      const Ogre::Terrain *_terrain, bool _compositeMap);

          protected: virtual void generateVpHeader(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVpFooter(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVertexProgramSource(
                         const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void defaultVpParams(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         const Ogre::HighLevelGpuProgramPtr &_prog);

          protected: virtual unsigned int generateVpDynamicShadowsParams(
                         unsigned int _texCoordStart, const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVpDynamicShadows(
                         const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFpHeader(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain,
                         TechniqueType tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFpLayer(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType tt,
                         Ogre::uint _layer,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFpFooter(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain,
                         TechniqueType tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFpDynamicShadowsParams(
                         Ogre::uint *_texCoord, Ogre::uint *_sampler,
                         const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFpDynamicShadowsHelpers(
                         const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain,
                         TechniqueType tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: void generateFpDynamicShadows(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateFragmentProgramSource(
                         const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void updateVpParams(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         const Ogre::GpuProgramParametersSharedPtr &_params);

          private: Ogre::String GetChannel(Ogre::uint _idx);
        };

        protected: class ShaderHelperCg :
            public Ogre::TerrainMaterialGeneratorA::SM2Profile::ShaderHelperCg
        {
          public: virtual Ogre::HighLevelGpuProgramPtr generateFragmentProgram(
                      const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                      TechniqueType _tt);

          public: virtual Ogre::HighLevelGpuProgramPtr generateVertexProgram(
                      const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                      TechniqueType _tt);

          protected: virtual void generateVpHeader(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVpFooter(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVertexProgramSource(
                         const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void defaultVpParams(const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         const Ogre::HighLevelGpuProgramPtr &_prog);

          protected: virtual unsigned int generateVpDynamicShadowsParams(
                         unsigned int _texCoordStart, const SM2Profile *_prof,
                         const Ogre::Terrain *_terrain, TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);

          protected: virtual void generateVpDynamicShadows(
                         const SM2Profile *_prof, const Ogre::Terrain *_terrain,
                         TechniqueType _tt,
                         Ogre::StringUtil::StrStreamType &_outStream);
        };
#ifdef __clang__
#pragma clang diagnostic pop
#endif  // ifdef __clang__
      };
    };
  }
}
#endif