ElevationMap.h

/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2026  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/img/CImage.h>
#include <mrpt/opengl/CMesh.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
#include <vector>
 
namespace mvsim
{
class ElevationMap : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(ElevationMap)
   public:
    ElevationMap(World* parent, const rapidxml::xml_node<char>* root);
    virtual ~ElevationMap();
 
    ElevationMap(const ElevationMap&) = delete;
    ElevationMap& operator=(const ElevationMap&) = delete;
    ElevationMap(ElevationMap&&) = delete;
    ElevationMap& operator=(ElevationMap&&) = delete;
 
    virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
 
    virtual void simul_pre_timestep(const TSimulContext& context) override;
    virtual void simul_post_timestep(const TSimulContext& context) override;
 
    std::optional<float> getElevationAt(const mrpt::math::TPoint2D& pt) const override;
 
   protected:
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical, bool childrenOnly) override;
 
    std::vector<mrpt::opengl::CMesh::Ptr> gl_meshes_;
    bool firstSceneRendering_ = true;
    double resolution_ = 1.0f;
 
    double textureExtensionX_ = 0;  
    double textureExtensionY_ = 0;  
 
    mrpt::math::CMatrixDouble meshCacheZ_;
    double meshMinX_ = 0, meshMaxX_ = 0, meshMinY_ = 0, meshMaxY_ = 0;
 
    double model_split_size_ = .0f;
};
}  // namespace mvsim