PropertyRegion.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/math/TPoint3D.h>
#include <mvsim/WorldElements/WorldElementBase.h>
 
#include <any>
 
namespace mvsim
{
class PropertyRegion : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(PropertyRegion)
   public:
    PropertyRegion(World* parent, const rapidxml::xml_node<char>* root);
    virtual ~PropertyRegion() = default;
 
    // Non-copyable and non-movable
    PropertyRegion(const PropertyRegion&) = delete;
    PropertyRegion& operator=(const PropertyRegion&) = delete;
    PropertyRegion(PropertyRegion&&) = delete;
    PropertyRegion& operator=(PropertyRegion&&) = delete;
 
    virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;
 
    // The core logic: returns the property value if the point is inside the box
    virtual std::optional<std::any> queryProperty(
        const std::string& propertyName, const mrpt::math::TPoint3D& worldXYZ) const override;
 
    // No-op for physics and GUI
    virtual void simul_pre_timestep(const TSimulContext&) override {}
    virtual void simul_post_timestep(const TSimulContext&) override {}
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>&,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>&, bool) override
    {
    }
 
   protected:
    mrpt::math::TPoint3D boxMin_ = {-1.0, -1.0, -1000.0};
    mrpt::math::TPoint3D boxMax_ = {1.0, 1.0, 1000.0};
 
    std::string propertyName_;
    std::any propertyValue_;
};
}  // namespace mvsim