HorizontalPlane.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/TColor.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSetOfTexturedTriangles.h>
#include <mrpt/opengl/CTexturedPlane.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
namespace mvsim
{
class HorizontalPlane : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(HorizontalPlane)
   public:
    HorizontalPlane(World* parent, const rapidxml::xml_node<char>* root);
    virtual ~HorizontalPlane();
 
    virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
    // ------- Interface with "World" ------
    void simul_pre_timestep(const TSimulContext& context) override;
    void simul_post_timestep(const TSimulContext& context) override;
 
    std::optional<float> getElevationAt(const mrpt::math::TPoint2D& worldXY) 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;
 
    float x_min_ = -10, x_max_ = 10, y_min_ = -10, y_max_ = 10;
    mrpt::img::TColor color_ = {0xa0, 0xa0, 0xa0, 0xff};
    bool enableShadows_ = true;
 
    std::string textureFileName_;
    double textureSizeX_ = 1.0;
    double textureSizeY_ = 1.0;
 
    float z_ = .0f;
    std::string cull_faces_ = "NONE";
 
    mrpt::opengl::CTexturedPlane::Ptr gl_plane_;
    mrpt::opengl::CSetOfTexturedTriangles::Ptr gl_plane_text_;
    mrpt::opengl::CSetOfObjects::Ptr glGroup_;
};
}  // namespace mvsim