HeightmapShape.hpp

/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
#define DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

template <typename S_>
class HeightmapShape : public Shape
{
public:
  using S = S_;

  using Vector3 = Eigen::Matrix<S, 3, 1>;
  using HeightField
      = Eigen::Matrix<S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;

  HeightmapShape();

  ~HeightmapShape() override = default;

  // Documentation inherited.
  const std::string& getType() const override;

  static const std::string& getStaticType();

  Eigen::Matrix3d computeInertia(double mass) const override;

  void setScale(const Vector3& scale);

  const Vector3& getScale() const;

  void setHeightField(
      const std::size_t& width,
      const std::size_t& depth,
      const std::vector<S>& heights);

  void setHeightField(const HeightField& heights);

  const HeightField& getHeightField() const;

  HeightField& getHeightFieldModifiable() const;

  void flipY() const;

  std::size_t getWidth() const;

  std::size_t getDepth() const;

  S getMinHeight() const;

  S getMaxHeight() const;

  void notifyColorUpdated(const Eigen::Vector4d& color) override;

protected:
  // Documentation inherited.
  void updateBoundingBox() const override;

  void updateVolume() const override;

  void computeBoundingBox(Eigen::Vector3d& min, Eigen::Vector3d& max) const;

private:
  Vector3 mScale;

  mutable HeightField mHeights;

  S mMinHeight;

  S mMaxHeight;
};

using HeightmapShapef = HeightmapShape<float>;
using HeightmapShaped = HeightmapShape<double>;

} // namespace dynamics
} // namespace dart

#include "dart/dynamics/detail/HeightmapShape-impl.hpp"

#endif // DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_