VerticalPlane.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 VerticalPlane : public WorldElementBase
{
    DECLARES_REGISTER_WORLD_ELEMENT(VerticalPlane)
   public:
    VerticalPlane(World* parent, const rapidxml::xml_node<char>* root);
 
    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;
 
    struct Opening
    {
        enum class Type
        {
            DOOR,  // No collision, allows passage
            WINDOW  // Has collision, but visible opening
        };
 
        Type type = Type::DOOR;
        float position = 0.0f;  
        float width = 1.0f;  
        float z_min = 0.0f;  
        float z_max = 2.1f;  
        std::string name;  
 
        bool overlaps(float pos_start, float pos_end) const;
    };
 
   protected:
    virtual void internalGuiUpdate(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical, bool childrenOnly) override;
 
    void createPhysicsBodies();
 
    void createVisualRepresentation(
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
        const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical);
 
    void renderWallFace(
        const mrpt::math::TPoint2Df& p0, const mrpt::math::TPoint2Df& p1,
        const mrpt::math::TPoint2Df& normal_offset, bool is_front_face,
        const mrpt::img::CImage* texture = nullptr);
 
    void renderWallEdges(
        const mrpt::math::TPoint2Df& p0, const mrpt::math::TPoint2Df& p1,
        const mrpt::math::TPoint2Df& w_inner, const mrpt::math::TPoint2Df& w_outer,
        const mrpt::img::CImage* texture = nullptr);
 
    void renderOpeningReveals(
        const mrpt::math::TPoint2Df& p0, const mrpt::math::TPoint2Df& p1,
        const mrpt::math::TPoint2Df& dir, const mrpt::math::TPoint2Df& w_inner,
        const mrpt::math::TPoint2Df& w_outer, float wall_length,
        const mrpt::img::CImage* texture = nullptr);
 
    float x0_ = -10, x1_ = -10, y0_ = -10, y1_ = 10;
    mrpt::img::TColor color_ = {0xa0, 0xa0, 0xa0, 0xff};
    bool enableShadows_ = true;
 
    float thickness_ = 0.02f;
 
    std::string textureFileName_;
    double textureSizeX_ = 1.0;
    double textureSizeY_ = 1.0;
 
    float z_ = .0f, height_ = 3.0f;
    std::string cull_faces_ = "NONE";
 
    mrpt::opengl::CTexturedPlane::Ptr gl_plane_;
    mrpt::opengl::CSetOfTexturedTriangles::Ptr gl_plane_text_;
    mrpt::opengl::CSetOfObjects::Ptr glGroup_;
 
    b2Body* b2dBody_ = nullptr;
    double restitution_ = 0.01;  
 
    std::vector<b2Fixture*> fixtures_;
 
    std::vector<Opening> openings_;
};
}  // namespace mvsim