Revision: 7643
http://playerstage.svn.sourceforge.net/playerstage/?rev=7643&view=rev
Author: natepak
Date: 2009-05-13 13:18:38 +0000 (Wed, 13 May 2009)
Log Message:
-----------
Added OgreHeightmap
Added Paths:
-----------
code/gazebo/trunk/server/rendering/OgreHeightmap.cc
code/gazebo/trunk/server/rendering/OgreHeightmap.hh
Added: code/gazebo/trunk/server/rendering/OgreHeightmap.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreHeightmap.cc
(rev 0)
+++ code/gazebo/trunk/server/rendering/OgreHeightmap.cc 2009-05-13 13:18:38 UTC
(rev 7643)
@@ -0,0 +1,178 @@
+/*
+ * 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: Heightmap geometry
+ * Author: Nate Keonig
+ * Date: 12 May 2009
+ * SVN: $Id$
+ */
+
+#include <Ogre.h>
+#include <iostream>
+#include <string.h>
+#include <math.h>
+
+#include "Image.hh"
+#include "GazeboError.hh"
+#include "OgreAdaptor.hh"
+#include "Simulator.hh"
+#include "OgreHeightmap.hh"
+
+using namespace gazebo;
+
+//////////////////////////////////////////////////////////////////////////////
+// Constructor
+OgreHeightmap::OgreHeightmap()
+{
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Destructor
+OgreHeightmap::~OgreHeightmap()
+{
+
Simulator::Instance()->GetRenderEngine()->sceneMgr->destroyQuery(this->rayQuery);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// get height at a point
+float OgreHeightmap::GetHeightAt(const Vector2<float> &pos)
+{
+ Ogre::Vector3 pos3(pos.x, this->terrainSize.z,pos.y);
+
+ this->ray.setOrigin(pos3);
+ this->rayQuery->setRay(this->ray);
+ this->distToTerrain = 0;
+ this->rayQuery->execute(this);
+
+ return this->terrainSize.z - this->distToTerrain;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Overloaded Ogre function for Ray Scene Queries
+bool OgreHeightmap::queryResult(Ogre::MovableObject *obj, Ogre::Real dist)
+{
+ return false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Overloaded Ogre function for Ray Scene Queries
+bool OgreHeightmap::queryResult(Ogre::SceneQuery::WorldFragment *frag,
Ogre::Real dist)
+{
+ this->distToTerrain = dist;
+ return false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Load the heightmap
+void OgreHeightmap::Load( std::string imageFilename,
+ std::string worldTexture,
+ std::string detailTexture,
+ Vector3 _terrainSize)
+{
+ std::ostringstream stream;
+ unsigned int terrainVertSize;
+ int tileSize;
+ Image img;
+
+ this->terrainSize = _terrainSize;
+
+ // Use the image to get the size of the heightmap
+ img.Load(imageFilename);
+
+ // Width and height must be the same
+ if (img.GetWidth() != img.GetHeight())
+ {
+ gzthrow("Heightmap image must be square\n");
+ }
+
+ terrainVertSize = img.GetWidth();
+
+ float nf = (float)(log(terrainVertSize-1)/log(2));
+ int ni = (int)(log(terrainVertSize-1)/log(2));
+
+ // Make sure the heightmap image size is (2^n)+1 in size
+ if ( nf - ni != 0)
+ {
+ gzthrow("Heightmap image size must be (2^n)+1\n");
+ }
+
+ // Calculate a good tile size
+ tileSize = (int)(pow( 2, ni/2 ));
+
+ if (tileSize <= 2)
+ {
+ tileSize = 4;
+ }
+
+ tileSize++;
+
+ /*std::cout << "ODE Scale[" << this->odeScale << "]\n";
+ std::cout << "Terrain Image[" << this->imageFilenameP->GetValue() << "]
Size[" << this->terrainSize << "]\n";
+ printf("Terrain Size[%f %f %f]\n", this->terrainSize.x, this->terrainSize.y,
this->terrainSize.z);
+ printf("VertSize[%d] Tile Size[%d]\n", terrainVertSize, tileSize);
+ */
+
+ stream << "WorldTexture=" << worldTexture << "\n";
+ //The detail texture
+ stream << "DetailTexture=" << detailTexture << "\n";
+ // number of times the detail texture will tile in a terrain tile
+ stream << "DetailTile=3\n";
+ // Heightmap source
+ stream << "PageSource=Heightmap\n";
+ // Heightmap-source specific settings
+ stream << "Heightmap.image=" << imageFilename << "\n";
+ // How large is a page of tiles (in vertices)? Must be (2^n)+1
+ stream << "PageSize=" << terrainVertSize << "\n";
+ // How large is each tile? Must be (2^n)+1 and be smaller than PageSize
+ stream << "TileSize=" << tileSize << "\n";
+ // The maximum error allowed when determining which LOD to use
+ stream << "MaxPixelError=4\n";
+ // The size of a terrain page, in world units
+ stream << "PageWorldX=" << this->terrainSize.x << "\n";
+ stream << "PageWorldZ=" << this->terrainSize.y << "\n";
+ // Maximum height of the terrain
+ stream << "MaxHeight="<< this->terrainSize.z << "\n";
+ // Upper LOD limit
+ stream << "MaxMipMapLevel=2\n";
+
+ // Create a data stream for loading the terrain into Ogre
+ char *mstr = strdup(stream.str().c_str());
+
+ Ogre::DataStreamPtr dataStream(
+ new Ogre::MemoryDataStream(mstr,strlen(mstr)) );
+
+ // Set the static terrain in Ogre
+ OgreAdaptor::Instance()->sceneMgr->setWorldGeometry(dataStream);
+
+ // HACK to make the terrain oriented properly
+ Ogre::SceneNode *tnode =
OgreAdaptor::Instance()->sceneMgr->getSceneNode("Terrain");
+ tnode->pitch(Ogre::Degree(90));
+ tnode->translate(Ogre::Vector3(-this->terrainSize.x*0.5,
this->terrainSize.y*0.5, 0));
+
+ // Setup the ray scene query, which is used to determine the heights of
+ // the vertices for ODE
+ this->ray = Ogre::Ray(Ogre::Vector3::ZERO, Ogre::Vector3::NEGATIVE_UNIT_Y);
+ this->rayQuery =
OgreAdaptor::Instance()->sceneMgr->createRayQuery(this->ray);
+
this->rayQuery->setQueryTypeMask(Ogre::SceneManager::WORLD_GEOMETRY_TYPE_MASK);
+
this->rayQuery->setWorldFragmentType(Ogre::SceneQuery::WFT_SINGLE_INTERSECTION);
+
+ free(mstr);
+}
Added: code/gazebo/trunk/server/rendering/OgreHeightmap.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreHeightmap.hh
(rev 0)
+++ code/gazebo/trunk/server/rendering/OgreHeightmap.hh 2009-05-13 13:18:38 UTC
(rev 7643)
@@ -0,0 +1,71 @@
+/*
+ * 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: Heightmap geometry
+ * Author: Nate Keonig
+ * Date: 12 May 2009
+ * SVN: $Id:$
+ */
+
+#ifndef OGREHEIGHTMAP_HH
+#define OGREHEIGHTMAP_HH
+
+#include <Ogre.h>
+
+#include "Vector2.hh"
+#include "Vector3.hh"
+
+namespace gazebo
+{
+
+ /// \brief Height map geom
+ class OgreHeightmap : public Ogre::RaySceneQueryListener
+ {
+ /// \brief Constructor
+ public: OgreHeightmap();
+
+ /// \brief Destructor
+ public: virtual ~OgreHeightmap();
+
+ /// \brief Get the height of the heightmap as a specific coordinate
+ public: float GetHeightAt(const Vector2<float> &pos);
+
+ /// \brief Overloaded Ogre function for Ray Scene Queries
+ public: virtual bool queryResult(Ogre::MovableObject *obj, Ogre::Real
dist);
+
+ /// \brief Overloaded Ogre function for Ray Scene Queries
+ public: virtual bool queryResult(Ogre::SceneQuery::WorldFragment *frag,
Ogre::Real dist);
+
+ /// \brief Load the heightmap
+ public: virtual void Load( std::string imageFilename,
+ std::string worldTexture,
+ std::string detialTexture,
+ Vector3 terrainSize);
+
+ private: Vector3 terrainSize;
+
+ private: Ogre::Ray ray;
+ private: Ogre::RaySceneQuery *rayQuery;
+
+ private: double distToTerrain;
+ };
+}
+
+#endif
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