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 <gz/math/Vector3.hh>
#include <gz/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 {
  //
 
  // Forward declarations.
  class ParserConfig;
 
  class SDFORMAT_VISIBLE HeightmapTexture
  {
    public: HeightmapTexture();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
    public: double Size() const;
 
    public: void SetSize(double _size);
 
    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;
 
    GZ_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;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE Heightmap
  {
    public: Heightmap();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
 
    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: gz::math::Vector3d Size() const;
 
    public: void SetSize(const gz::math::Vector3d &_size);
 
    public: gz::math::Vector3d Position() const;
 
    public: void SetPosition(const gz::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;
 
    public: sdf::ElementPtr ToElement() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif