Heightmap.hh

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/*
 * Copyright 2020 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.
 *
*/
#ifndef SDF_HEIGHTMAP_HH_
#define SDF_HEIGHTMAP_HH_

#include <string>
#include <ignition/math/Vector3.hh>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Element.hh>
#include <sdf/Error.hh>
#include <sdf/sdf_config.h>

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  class SDFORMAT_VISIBLE HeightmapTexture
  {
    public: HeightmapTexture();

    public: Errors Load(ElementPtr _sdf);

    public: double Size() const;

    public: void SetSize(double _uri);

    public: std::string Diffuse() const;

    public: void SetDiffuse(const std::string &_diffuse);

    public: std::string Normal() const;

    public: void SetNormal(const std::string &_normal);

    public: sdf::ElementPtr Element() const;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };

  class SDFORMAT_VISIBLE HeightmapBlend
  {
    public: HeightmapBlend();

    public: Errors Load(ElementPtr _sdf);

    public: double MinHeight() const;

    public: void SetMinHeight(double _minHeight);

    public: double FadeDistance() const;

    public: void SetFadeDistance(double _fadeDistance);

    public: sdf::ElementPtr Element() const;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };

  class SDFORMAT_VISIBLE Heightmap
  {
    public: Heightmap();

    public: Errors Load(ElementPtr _sdf);

    public: std::string Uri() const;

    public: void SetUri(const std::string &_uri);

    public: const std::string &FilePath() const;

    public: void SetFilePath(const std::string &_filePath);

    public: ignition::math::Vector3d Size() const;

    public: void SetSize(const ignition::math::Vector3d &_size);

    public: ignition::math::Vector3d Position() const;

    public: void SetPosition(const ignition::math::Vector3d &_position);

    public: bool UseTerrainPaging() const;

    public: void SetUseTerrainPaging(bool _use);

    public: unsigned int Sampling() const;

    public: void SetSampling(unsigned int _sampling);

    public: uint64_t TextureCount() const;

    public: const HeightmapTexture *TextureByIndex(uint64_t _index) const;

    public: void AddTexture(const HeightmapTexture &_texture);

    public: uint64_t BlendCount() const;

    public: const HeightmapBlend *BlendByIndex(uint64_t _index) const;

    public: void AddBlend(const HeightmapBlend &_blend);

    public: sdf::ElementPtr Element() const;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif