terrainpatch.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 110 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: A single patch of terrain
 * Author: Nate Keonig
 * Date: 30 April 2004
 * CVS: $Id: TerrainPatch.hh,v 1.3 2004/11/15 17:11:45 natepak Exp $
 */

#ifndef TERRAINPATCH_HH
#define TERRAINPATCH_HH

#include "Vector.hh"

class Terrain;

class TerrainPatch
{
  // Directions of other patches
  public: enum Direction {TOP, RIGHT, BOTTOM, LEFT};

  public: TerrainPatch(unsigned int size, double err, GLfloat *vertices);
  public: virtual ~TerrainPatch();

  public: void Init();

  // Attach a neighbor to a direction
  public: void SetNeighbor( TerrainPatch *neigh, Direction dir);

  // Set the vertex index for the local x,y coordinate inside the patch
  public: void SetVertex(short x, short y, unsigned int vertex);

  // Create the triangle strip for this patch
  public: void CreateStrip(unsigned int index, IndexList *indexList,
              IndexList *odeIndexList, bool &facing);

  // Return the tesselation level
  public: unsigned short GetTessLevel();

  public: void Render();

  // Fix the border vertices to prevent gaps
  private: void FixBorders();

  // Add a vertex to the index array
  private: void AddStripIndex(unsigned int index, IndexList *indexList);

  // Return the coordinates of the vertex[index]
  private: double GetVertexPosX(unsigned int index);
  private: double GetVertexPosY(unsigned int index);
  private: double GetVertexPosZ(unsigned int index);

  // Calcuate the normal for a single triangle
  private: void CalcNormal(unsigned int one, unsigned int two, 
               unsigned int three);

  // Is the triangle valid (not degenerate)?
  private: bool IsValidTriangle( int i1, int i2, int i3 );

  // Our neighbors
  private: TerrainPatch *neighbors[4];


  // Size of the square patch (just on side)
  public: unsigned int size;

  private: double errBound;

  // The center of the patch
  private: double minCoordsX;
  private: double minCoordsY;
  private: double minCoordsZ;

  private: double maxCoordsX;
  private: double maxCoordsY;
  private: double maxCoordsZ;

  // The vertex data. The vertices array holds indexes into the main
  // vertex array that is maintained by TerainGeom
  private: int *allIndices;

  private: unsigned short tessLevel;

  private: GLuint *finalIndices;
  private: int numFinalIndices;
  private: int maxFinalIndices;

   // Packed vertex array
  private: GLfloat *vertices;
};

#endif