Heightmap.hh

Go to the documentation of this file.

/*
 * Copyright 2012 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 "gazebo/rendering/ogre_gazebo.h"

#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);

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

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

      private: void ConfigureTerrainDefaults();

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

      private: void SetupShadows(bool _enabled);

      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;
    };

    class 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);

        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);
        };
      };
    };
  }
}
#endif