terrain.hh

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· HH 代码 · 共 211 行

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Terrain main class
 * Author: Nate Keonig
 * Date: 05 Nov 2004
 * CVS: $Id: Terrain.hh,v 1.7 2005/10/12 15:46:29 natepak Exp $
 */

#ifndef TERRAIN_HH
#define TERRAIN_HH

#include <gdal_priv.h>
#include <GL/gl.h>

class TerrainPatch;
class IndexNode;
class IndexList;

class Terrain
{
  public: Terrain();
  public: virtual ~Terrain();

  // Load a data file, and modify it according to the set values
  public: int Load( const char *filename);

  // Write the terrain data to a file
  public: void Write(const char *outputFilename);

  // Output some useful information
  public: void PrintInfo();


  /////////////////////////////////////////////////////////////////////////////
  // Mutators 
  /////////////////////////////////////////////////////////////////////////////
  public: void SetUTMZone(int zone);
  public: void SetXOffset( double x );
  public: void SetYOffset( double y );
  public: void SetZOffset( double z );
  public: void SetScale( float horzScale, float vertScale );
  public: void SetHorzScale( float horzScale);
  public: void SetVertScale( float vertScale);
  public: void SetNormalizeZ( bool normalize );
  public: void SetTextureSize( float s, float t );
  public: void SetSTextureSize( float s );
  public: void SetTTextureSize( float t );
  public: void SetErrorBound( double err );


  /////////////////////////////////////////////////////////////////////////////
  // Accessors 
  /////////////////////////////////////////////////////////////////////////////

  public: int GetUTMZone();
  public: float GetEasting();
  public: float GetNorthing();
  public: void GetOffsets( double &x, double &y, double &z );
  public: void GetScale( float &horzScale, float &vertScale );
  public: bool GetNormalizeZ();
  public: void GetTextureSize( float &s, float &t );
  public: double GetErrorBound();
  public: void GetOrigDataSize( double &width, double &height );
  public: void GetModDataSize( double &width, double &height );
  public: void GetMapSize( double &width, double &height );
  public: void GetNumPatches( double &xCount, double &yCount );

  public: int GetVertexStride();

  public: int GetReducedVertexCount();
  public: int GetReducedIndexCount();
  public: const GLfloat *GetReducedVertices(); 
  public: const GLuint *GetReducedIndices(); 


  /////////////////////////////////////////////////////////////////////////////
  // Helper Routines
  /////////////////////////////////////////////////////////////////////////////

  // Cleanup all the old stuff
  private: void Cleanup();

  // Convert to UTM coordinates
  private: int Warp( const char *filename );

  // Initialize all the varables
  private: void Initialize();

  // Load the data
  private: void LoadData();

  // Reduce the data to it finall patchified form
  private: void Reduce();


  /////////////////////////////////////////////////////////////////////////////
  // Attributes 
  /////////////////////////////////////////////////////////////////////////////

  // GDAL data file descriptor
  private: GDALDataset *dataSet;

  // UTM Coord
  private: float easting, northing;

  // Width x Length of the data points
  private: double dataSizeOrigX;
  private: double dataSizeOrigY;
  private: double dataSizeOrigZ;

  private: double dataSizeModX;
  private: double dataSizeModY;
  private: double dataSizeModZ;

  // Width(x) x Length(y) x Height(z)
  private: double mapSizeX;
  private: double mapSizeY;
  private: double mapSizeZ;

  // Coverage size of each pixel (eg 10m x 10m)
  private: double pixelSizeX;
  private: double pixelSizeY;

  // Number of patches
  private: double numPatchesX;
  private: double numPatchesY;

  // Location offset values
  private: double offsetsX;
  private: double offsetsY;
  private: double offsetsZ;

  // Size of each patch (in data points). A patch is square
  private: unsigned int patchSize;

  // UTM Zone
  private: int utmZone;

  // Scaling factors
  private: float horzScale, vertScale;

  // Should we normalize the z-values before applying vertScale
  private: bool normalizeZ;

  // Size of the s and t texture spacings
  private: float sTextureSize, tTextureSize;

  // Error Bound
  private: double errBound;

  // Array of all the patches
  private: TerrainPatch **patches;

  // Packed vertex array
  private: GLfloat *vertices;

  private: IndexList *indexList;
  private: IndexList *odeIndexList;

  private: GLfloat *reducedVertices;
  private: GLuint reducedVertexCount;

  private: GLuint *reducedIndices;
  private: GLuint reducedIndexCount;

  private: GLuint *reducedODEIndices;
  private: GLuint reducedODEIndexCount;
};


class IndexNode
{
  public: IndexNode();
  public: IndexNode *next;
  public: IndexNode *prev;
  public: GLuint index;
};

class IndexList
{
  public: IndexList();
  public: virtual ~IndexList();

  public: void Push( GLuint index );

  public: IndexNode *head; 
  public: IndexNode *tail; 
  public: unsigned int size;
  public: GLuint max;
};

#endif