Shape for a height map. More...

#include <HeightmapShape.hpp>

Inheritance diagram for dart::dynamics::HeightmapShape< S_ >:

Public Types
using	S = S_

using	Vector3 = Eigen::Matrix< S, 3, 1 >

using	HeightField = Eigen::Matrix< S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

enum	ShapeType { SPHERE , BOX , ELLIPSOID , CYLINDER , CAPSULE , CONE , PYRAMID , RECTANGULAR_PYRAMID , PLANE , MULTISPHERE , MESH , SOFT_MESH , LINE_SEGMENT , HEIGHTMAP , UNSUPPORTED }

enum	DataVariance { STATIC = 0 , DYNAMIC_TRANSFORM = 1 << 1 , DYNAMIC_PRIMITIVE = 1 << 2 , DYNAMIC_COLOR = 1 << 3 , DYNAMIC_VERTICES = 1 << 4 , DYNAMIC_ELEMENTS = 1 << 5 , DYNAMIC = 0xFF }
	DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update. More...

using	VersionChangedSignal = common::Signal< void(Shape *shape, std::size_t version)>

Public Member Functions
	HeightmapShape ()
	Constructor. More...

	~HeightmapShape () override=default
	Destructor. More...

const std::string &	getType () const override
	Returns a string representing the shape type. More...

Eigen::Matrix3d	computeInertia (double mass) const override
	Computes the inertia. More...

void	setScale (const Vector3 &scale)
	Sets scale of this heightmap. More...

const Vector3 &	getScale () const
	Returns scale of this heightmap. More...

void	setHeightField (const std::size_t &width, const std::size_t &depth, const std::vector< S > &heights)
	Sets the height field. More...

void	setHeightField (const HeightField &heights)
	Sets the height field. More...

const HeightField &	getHeightField () const
	Returns the height field. More...

HeightField &	getHeightFieldModifiable () const
	Returns the modified height field. See also setHeightField(). More...

void	flipY () const
	Flips the y values in the height field. More...

std::size_t	getWidth () const
	Returns the width dimension of the height field. More...

std::size_t	getDepth () const
	Returns the height dimension of the height field. More...

S	getMinHeight () const
	Returns the minimum height set by setHeightField() More...

S	getMaxHeight () const
	Returns the maximum height set by setHeightField() More...

void	notifyColorUpdated (const Eigen::Vector4d &color) override
	Set the color of this arrow. More...

template<typename ShapeT >
bool	is () const
	Get true if the types of this Shape and the template parameter (a shape class) are identical. More...

const math::BoundingBox &	getBoundingBox () const
	Get the bounding box of the shape in its local coordinate frame. More...

Eigen::Matrix3d	computeInertiaFromDensity (double density) const

Eigen::Matrix3d	computeInertiaFromMass (double mass) const

double	getVolume () const
	Returns volume of this shape. More...

std::size_t	getID () const

ShapeType	getShapeType () const

void	setDataVariance (unsigned int _variance)
	Set the data variance of this shape. More...

void	addDataVariance (unsigned int _variance)
	Add a type of variance to this shape. More...

void	removeDataVariance (unsigned int _variance)
	Remove a type of variance from this shape. More...

unsigned int	getDataVariance () const
	Get the data variance of this shape. More...

bool	checkDataVariance (DataVariance type) const
	True iff this Shape has the specified type of DataVariance. More...

virtual void	refreshData ()
	Instruct this shape to update its data. More...

virtual void	notifyAlphaUpdate (double alpha)
	Notify that the alpha of this shape has updated. More...

virtual void	notifyAlphaUpdated (double alpha)
	Notify that the alpha of this shape has updated. More...

virtual void	notifyColorUpdate (const Eigen::Vector4d &color)
	Notify that the color (rgba) of this shape has updated. More...

std::size_t	incrementVersion () override final
	Increment the version of this Shape and notify its subscribers. More...

virtual std::size_t	getVersion () const
	Get the version number of this object. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns shape type for this class. More...

Public Attributes
common::SlotRegister< VersionChangedSignal >	onVersionChanged
	Use this to subscribe to version change signals. More...

Protected Member Functions
void	updateBoundingBox () const override
	Updates bounding box. More...

void	updateVolume () const override
	Updates volume. More...

void	computeBoundingBox (Eigen::Vector3d &min, Eigen::Vector3d &max) const
	Computes the bounding box of the height field. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

void	setVersionDependentObject (VersionCounter *dependent)

Protected Attributes
math::BoundingBox	mBoundingBox
	The bounding box (in the local coordinate frame) of the shape. More...

bool	mIsBoundingBoxDirty
	Whether bounding box needs update. More...

double	mVolume
	Volume enclosed by the geometry. More...

bool	mIsVolumeDirty
	Whether volume needs update. More...

const std::size_t	mID
	Unique id. More...

unsigned int	mVariance
	The DataVariance of this Shape. More...

ShapeType	mType

std::set< Observer * >	mObservers
	List of current Observers. More...

std::size_t	mVersion

Static Protected Attributes
static std::atomic_int	mCounter { 1000 }

Private Attributes
Vector3	mScale
	Scale of the heightmap. More...

HeightField	mHeights
	Height field. More...

S	mMinHeight
	Minimum heights. More...

S	mMaxHeight
	Maximum heights. More...

VersionChangedSignal	mVersionChangedSignal
	Triggered by incrementVersion() More...

VersionCounter *	mDependent

Detailed Description

template<typename S_>
class dart::dynamics::HeightmapShape< S_ >

Shape for a height map.

Template Parameters

S_	Data type used for height map. At this point, only double and float are supported. Short and char can be added at a later point.

Member Typedef Documentation

◆ HeightField

template<typename S_ >

using dart::dynamics::HeightmapShape< S_ >::HeightField = Eigen::Matrix<S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

◆ S

template<typename S_ >

using dart::dynamics::HeightmapShape< S_ >::S = S_

◆ Vector3

template<typename S_ >

using dart::dynamics::HeightmapShape< S_ >::Vector3 = Eigen::Matrix<S, 3, 1>

◆ VersionChangedSignal

using dart::dynamics::Shape::VersionChangedSignal = common::Signal<void(Shape* shape, std::size_t version)>

inherited

Member Enumeration Documentation

◆ DataVariance

enum dart::dynamics::Shape::DataVariance

inherited

DataVariance can be used by renderers to determine whether it should expect data for this shape to change during each update.

Enumerator
STATIC
DYNAMIC_TRANSFORM	No data will ever change.
DYNAMIC_PRIMITIVE	The relative transform of the Shape might change.
DYNAMIC_COLOR	The primitive properties (such as x/y/z scaling) of the shape might change.
DYNAMIC_VERTICES	The coloring or textures of the shape might change.
DYNAMIC_ELEMENTS	Vertex positions of a mesh might change (this does not include adding or removing vertices) (this enum is not relevant for primitive shapes)
DYNAMIC	The number of elements and/or arrangement of elements might change (this includes adding and removing vertices) (this enum is not relevant for primitive shapes)

◆ ShapeType

enum dart::dynamics::Shape::ShapeType

inherited

Deprecated:: Deprecated in 6.1. Please use getType() instead.

Enumerator
SPHERE
BOX
ELLIPSOID
CYLINDER
CAPSULE
CONE
PYRAMID
RECTANGULAR_PYRAMID
PLANE
MULTISPHERE
MESH
SOFT_MESH
LINE_SEGMENT
HEIGHTMAP
UNSUPPORTED

Constructor & Destructor Documentation

◆ HeightmapShape()

template<typename S >

dart::dynamics::HeightmapShape< S >::HeightmapShape

Constructor.

◆ ~HeightmapShape()

template<typename S_ >

dart::dynamics::HeightmapShape< S_ >::~HeightmapShape ( )

overridedefault

Destructor.

Member Function Documentation

◆ addDataVariance()

void dart::dynamics::Shape::addDataVariance ( unsigned int _variance )

inherited

Add a type of variance to this shape.

All other variance types will remain the same.

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ checkDataVariance()

bool dart::dynamics::Shape::checkDataVariance ( DataVariance type ) const

inherited

True iff this Shape has the specified type of DataVariance.

◆ computeBoundingBox()

template<typename S >

void dart::dynamics::HeightmapShape< S >::computeBoundingBox	(	Eigen::Vector3d &	min,
		Eigen::Vector3d &	max
	)		const

protected

Computes the bounding box of the height field.

Parameters

[out]	min	Mininum of box
[out]	max	Maxinum of box

◆ computeInertia()

template<typename S >

Eigen::Matrix3d dart::dynamics::HeightmapShape< S >::computeInertia ( double mass ) const

overridevirtual

Computes the inertia.

This base class computes the intertia based on the bounding box. Subclasses may choose to provide a more accurate computation of the inertia.

Implements dart::dynamics::Shape.

◆ computeInertiaFromDensity()

Eigen::Matrix3d dart::dynamics::Shape::computeInertiaFromDensity ( double density ) const

inherited

◆ computeInertiaFromMass()

Eigen::Matrix3d dart::dynamics::Shape::computeInertiaFromMass ( double mass ) const

inherited

◆ flipY()

template<typename S >

void dart::dynamics::HeightmapShape< S >::flipY

Flips the y values in the height field.

◆ getBoundingBox()

const math::BoundingBox & dart::dynamics::Shape::getBoundingBox ( ) const

inherited

Get the bounding box of the shape in its local coordinate frame.

The dimension will be automatically determined by the sub-classes such as BoxShape, EllipsoidShape, CylinderShape, and MeshShape.

◆ getDataVariance()

unsigned int dart::dynamics::Shape::getDataVariance ( ) const

inherited

Get the data variance of this shape.

◆ getDepth()

template<typename S >

std::size_t dart::dynamics::HeightmapShape< S >::getDepth

Returns the height dimension of the height field.

◆ getHeightField()

template<typename S >

auto dart::dynamics::HeightmapShape< S >::getHeightField

Returns the height field.

◆ getHeightFieldModifiable()

template<typename S >

auto dart::dynamics::HeightmapShape< S >::getHeightFieldModifiable

Returns the modified height field. See also setHeightField().

◆ getID()

std::size_t dart::dynamics::Shape::getID ( ) const

inherited

◆ getMaxHeight()

template<typename S >

auto dart::dynamics::HeightmapShape< S >::getMaxHeight

Returns the maximum height set by setHeightField()

◆ getMinHeight()

template<typename S >

auto dart::dynamics::HeightmapShape< S >::getMinHeight

Returns the minimum height set by setHeightField()

◆ getScale()

template<typename S >

auto dart::dynamics::HeightmapShape< S >::getScale

Returns scale of this heightmap.

◆ getShapeType()

Shape::ShapeType dart::dynamics::Shape::getShapeType ( ) const

inherited

Deprecated:: Deprecated in 6.1. Please use getType() instead.

◆ getStaticType()

template<typename S >

const std::string & dart::dynamics::HeightmapShape< S >::getStaticType

static

Returns shape type for this class.

◆ getType()

template<typename S >

const std::string & dart::dynamics::HeightmapShape< S >::getType ( ) const

overridevirtual

Returns a string representing the shape type.

See also: is()

Implements dart::dynamics::Shape.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const

virtualinherited

Get the version number of this object.

◆ getVolume()

double dart::dynamics::Shape::getVolume ( ) const

inherited

Returns volume of this shape.

The volume will be automatically calculated by the sub-classes such as BoxShape, EllipsoidShape, CylinderShape, and MeshShape.

◆ getWidth()

template<typename S >

std::size_t dart::dynamics::HeightmapShape< S >::getWidth

Returns the width dimension of the height field.

◆ incrementVersion()

std::size_t dart::dynamics::Shape::incrementVersion ( )

finaloverridevirtualinherited

Increment the version of this Shape and notify its subscribers.

Reimplemented from dart::common::VersionCounter.

◆ is()

template<typename ShapeT >

bool dart::dynamics::Shape::is

inherited

Get true if the types of this Shape and the template parameter (a shape class) are identical.

This function is a syntactic sugar, which is identical to: (getType() == ShapeType::getStaticType()).

Example code:

auto shape = bodyNode->getShapeNode(0)->getShape();
if (shape->is<BoxShape>())
  std::cout << "The shape type is box!\n";

See also: getType()

◆ notifyAlphaUpdate()

void dart::dynamics::Shape::notifyAlphaUpdate ( double alpha )

virtualinherited

Notify that the alpha of this shape has updated.

◆ notifyAlphaUpdated()

void dart::dynamics::Shape::notifyAlphaUpdated ( double alpha )

virtualinherited

Notify that the alpha of this shape has updated.

◆ notifyColorUpdate()

void dart::dynamics::Shape::notifyColorUpdate ( const Eigen::Vector4d & color )

virtualinherited

Notify that the color (rgba) of this shape has updated.

◆ notifyColorUpdated()

template<typename S >

void dart::dynamics::HeightmapShape< S >::notifyColorUpdated ( const Eigen::Vector4d & color )

overridevirtual

Set the color of this arrow.

Reimplemented from dart::dynamics::Shape.

◆ refreshData()

void dart::dynamics::Shape::refreshData ( )

virtualinherited

Instruct this shape to update its data.

◆ removeDataVariance()

void dart::dynamics::Shape::removeDataVariance ( unsigned int _variance )

inherited

Remove a type of variance from this shape.

All other variance types will remain the same.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setDataVariance()

void dart::dynamics::Shape::setDataVariance ( unsigned int _variance )

inherited

Set the data variance of this shape.

Use the DataVariance to indicate what kind of shape information might change during run time so that renderers can optimize reliably.

◆ setHeightField() [1/2]

template<typename S >

void dart::dynamics::HeightmapShape< S >::setHeightField ( const HeightField & heights )

Sets the height field.

The data in heights will be copied locally. It would be nice to have the option to use the values in heights directly instead of copying them locally to a vector in this class (this would avoid any data being kept twice). However some collision engine implementations may require to transform the height values, e.g. bullet needs the y values flipped. Therefore, a (mutable) copy of the height values passed in heights will be kept in this class. The copied data can be modified via getHeightFieldModifiable() and with flipY().

Parameters

[in] heights The height data of size width * depth where number of columns and number of rows are the width of the field (x axis) and the depth of the field (-y axis), respectively. The heights are interpreted as z values, while width goes in x direction and depth in -y (it goes to -y because traditionally images are read from top row to bottom row). In the geometry which is to be generated from this shape, the min/max height value is also the min/max z value (so if the minimum height value is -100, the lowest terrain point will be -100, times the z scale to be applied).

◆ setHeightField() [2/2]

template<typename S >

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

Sets the height field.

The data in heights will be copied locally. It would be nice to have the option to use the values in heights directly instead of copying them locally to a vector in this class (this would avoid any data being kept twice). However some collision engine implementations may require to transform the height values, e.g. bullet needs the y values flipped. Therefore, a (mutable) copy of the height values passed in heights will be kept in this class. The copied data can be modified via getHeightFieldModifiable() and with flipY().

Parameters

[in]	width	Width of the field (x axis)
[in]	depth	Depth of the field (-y axis)
[in]	heights	The height data of size width * depth. The heights are interpreted as z values, while width goes in x direction and depth in -y (it goes to -y because traditionally images are read from top row to bottom row). In the geometry which is to be generated from this shape, the min/max height value is also the min/max z value (so if the minimum height value is -100, the lowest terrain point will be -100, times the z scale to be applied).

◆ setScale()

template<typename S >

void dart::dynamics::HeightmapShape< S >::setScale ( const Vector3 & scale )

Sets scale of this heightmap.

Parameters

[in] scale Scale of the height map.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter * dependent )

protectedinherited

◆ updateBoundingBox()

template<typename S >

void dart::dynamics::HeightmapShape< S >::updateBoundingBox ( ) const

overrideprotectedvirtual

Updates bounding box.

Implements dart::dynamics::Shape.

◆ updateVolume()

template<typename S >

void dart::dynamics::HeightmapShape< S >::updateVolume

overrideprotectedvirtual

Updates volume.

This base class provides a simple implementation which returns the volume of the bounding box. Subclasses may opt to provide a more accurate computation of the volume.

Implements dart::dynamics::Shape.

Member Data Documentation

◆ mBoundingBox

math::BoundingBox dart::dynamics::Shape::mBoundingBox

mutableprotectedinherited

The bounding box (in the local coordinate frame) of the shape.

◆ mCounter

std::atomic_int dart::dynamics::Shape::mCounter { 1000 }

staticprotectedinherited

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent

privateinherited

◆ mHeights

template<typename S_ >

HeightField dart::dynamics::HeightmapShape< S_ >::mHeights

mutableprivate

Height field.

◆ mID

const std::size_t dart::dynamics::Shape::mID

protectedinherited

Unique id.

◆ mIsBoundingBoxDirty

bool dart::dynamics::Shape::mIsBoundingBoxDirty

mutableprotectedinherited

Whether bounding box needs update.

◆ mIsVolumeDirty

bool dart::dynamics::Shape::mIsVolumeDirty

mutableprotectedinherited

Whether volume needs update.

◆ mMaxHeight

template<typename S_ >

S dart::dynamics::HeightmapShape< S_ >::mMaxHeight

private

Maximum heights.

Is computed each time the height field is set with setHeightField().

◆ mMinHeight

template<typename S_ >

S dart::dynamics::HeightmapShape< S_ >::mMinHeight

private

Minimum heights.

Is computed each time the height field is set with setHeightField().

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mScale

template<typename S_ >

Vector3 dart::dynamics::HeightmapShape< S_ >::mScale

private

Scale of the heightmap.

◆ mType

ShapeType dart::dynamics::Shape::mType

protectedinherited

Deprecated:: Deprecated in 6.1.

Please use getType() instead. Type of primitive shpae.

◆ mVariance

unsigned int dart::dynamics::Shape::mVariance

protectedinherited

The DataVariance of this Shape.

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion

protectedinherited

◆ mVersionChangedSignal

VersionChangedSignal dart::dynamics::Shape::mVersionChangedSignal

privateinherited

Triggered by incrementVersion()

◆ mVolume

double dart::dynamics::Shape::mVolume

mutableprotectedinherited

Volume enclosed by the geometry.

◆ onVersionChanged

common::SlotRegister<VersionChangedSignal> dart::dynamics::Shape::onVersionChanged

inherited

Use this to subscribe to version change signals.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Detailed Description

template<typename S_> class dart::dynamics::HeightmapShape< S_ >

Member Typedef Documentation

◆ HeightField

◆ S

◆ Vector3

◆ VersionChangedSignal

Member Enumeration Documentation

◆ DataVariance

◆ ShapeType

Constructor & Destructor Documentation

◆ HeightmapShape()

◆ ~HeightmapShape()

Member Function Documentation

◆ addDataVariance()

◆ addObserver()

◆ checkDataVariance()

◆ computeBoundingBox()

◆ computeInertia()

◆ computeInertiaFromDensity()

◆ computeInertiaFromMass()

◆ flipY()

◆ getBoundingBox()

◆ getDataVariance()

◆ getDepth()

◆ getHeightField()

◆ getHeightFieldModifiable()

◆ getID()

◆ getMaxHeight()

◆ getMinHeight()

◆ getScale()

◆ getShapeType()

◆ getStaticType()

◆ getType()

◆ getVersion()

◆ getVolume()

◆ getWidth()

◆ incrementVersion()

◆ is()

◆ notifyAlphaUpdate()

◆ notifyAlphaUpdated()

◆ notifyColorUpdate()

◆ notifyColorUpdated()

◆ refreshData()

◆ removeDataVariance()

◆ removeObserver()

◆ sendDestructionNotification()

◆ setDataVariance()

◆ setHeightField() [1/2]

◆ setHeightField() [2/2]

◆ setScale()

◆ setVersionDependentObject()

◆ updateBoundingBox()

◆ updateVolume()

Member Data Documentation

◆ mBoundingBox

◆ mCounter

◆ mDependent

◆ mHeights

◆ mID

◆ mIsBoundingBoxDirty

◆ mIsVolumeDirty

◆ mMaxHeight

◆ mMinHeight

◆ mObservers

◆ mScale

◆ mType

◆ mVariance

◆ mVersion

◆ mVersionChangedSignal

◆ mVolume

◆ onVersionChanged

template<typename S_>
class dart::dynamics::HeightmapShape< S_ >