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# osgheightfield.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  ***************************************************************************
    00022  *                                                                         *
    00023  *  DESCRIPTION                                                            *
    00024  *                                                                         *
    00025  *   $Log: osgheightfield.h,v $
    00026  *   Revision 1.3  2009/07/30 11:36:01  guettler
    00027  *   added check if noGraphics in OsgHandle is set
    00028  *
    00029  *   Revision 1.2  2006/07/14 12:23:35  martius
    00030  *   selforg becomes HEAD
    00031  *
    00032  *   Revision 1.1.2.2  2006/05/29 20:10:06  martius
    00033  *   docu
    00034  *
    00035  *   Revision 1.1.2.1  2006/05/28 22:14:56  martius
    00036  *   heightfield included
    00037  *
    00038  *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
    00039  *   *** empty log message ***
    00040  *
    00041  *                                                                 *
    00042  ***************************************************************************/
    00043 #ifndef __OSGHEIGHTFIELD_H
    00044 #define __OSGHEIGHTFIELD_H
    00045
    00046
    00047 #include "osgprimitive.h"
    00048 #include <osg/Shape>
    00049
    00050 namespace lpzrobots {
    00051
    00052   /**
    00053      Graphical HeightField
    00054   */
    00055   class OSGHeightField : public OSGPrimitive {
    00056   public:
    00057
    00058     /// height coding using in the read in bitmap.
    00059     // Red: just the red channel is used;
    00060     // Sum: the sum of all channels is used;
    00061     // HighMidLow: Blue is least significant, Green is medium significant and Red is most significant
    00062     /* typedef */ enum CodingMode {Red, Sum, LowMidHigh};
    00063
    00064
    00065     OSGHeightField(osg::HeightField* heightfield,float x_size, float y_size);
    00066     OSGHeightField(const std::string& filename, float x_size, float y_size, float height);
    00067
    00068     virtual void setMatrix(const osg::Matrix& matrix);
    00069     virtual void init(const OsgHandle& osgHandle, Quality quality = Middle);
    00070
    00071     virtual const osg::HeightField* getHeightField() const { return field; }
    00072
    00073     /** loads an ppm image and returns the height field using the given coding and the height
    00074         (maximal height of the heightfield)
    00075     */
    00076     static osg::HeightField* loadFromPPM(const std::string& filename, double height,
    00077                                          CodingMode codingMode=Red);
    00078     /// return the height using the given coding mode. The data pointer points to RGB data point
    00079     static double coding(CodingMode mode, const unsigned char* data);
    00080
    00081   protected:
    00082     osg::HeightField* field;
    00083     float x_size;
    00084     float y_size;
    00085   };
    00086
    00087
    00088
    00089 }
    00090
    00091 #endif