raisim::HeightMapVisual

struct · #include <raisim/server/Visuals.hpp>

Visual-only height map (no physics) streamed by RaisimServer. Create with RaisimServer::addVisualHeightMap(); the server owns it. The constructors forward their arguments to the matching raisim::HeightMap constructor.

Constructors & destructor

HeightMapVisual

HeightMapVisual(const std::string &fileName, double centerX, double centerY)

Parameters

Parameter	Description
fileName (in)	raisim height-map text file
centerX (in)	x coordinate of the center
centerY (in)	y coordinate of the center

HeightMapVisual(
    const std::string &pngFileName,
    double centerX,
    double centerY,
    double xScale,
    double yScale,
    double heightScale,
    double heightOffset)

Parameters

Parameter	Description
pngFileName (in)	png image whose pixel values define the heights
centerX (in)	x coordinate of the center
centerY (in)	y coordinate of the center
xScale (in)	size along x
yScale (in)	size along y
heightScale (in)	scale from pixel value to height
heightOffset (in)	height of the 0-value pixel

HeightMapVisual(
    double centerX,
    double centerY,
    TerrainProperties &terrainProperties)

Parameters

Parameter	Description
centerX (in)	x coordinate of the center
centerY (in)	y coordinate of the center
terrainProperties (in)	procedural terrain parameters

HeightMapVisual(
    size_t xSamples,
    size_t ysamples,
    double xSize,
    double ySize,
    double centerX,
    double centerY,
    const std::vector<double> &heightIn)

Parameters

Parameter	Description
xSamples (in)	number of samples along x
ysamples (in)	number of samples along y
xSize (in)	size along x
ySize (in)	size along y
centerX (in)	x coordinate of the center
centerY (in)	y coordinate of the center
heightIn (in)	heights, xSamples * ysamples values

~HeightMapVisual

~HeightMapVisual() = default

Public member functions

setColor

void setColor(double r, double g, double b, double a)

Parameters

Parameter	Description
r (in)	red value (max=1)
g (in)	green value (max=1)
b (in)	blue value (max=1)
a (in)	alpha value (max=1) Store an RGBA color in color. Note: the server currently does not transmit color for height maps, so this has no visible effect; use the per-vertex overload instead.

void setColor(const std::vector<raisim::ColorRGB> &color)

Set per-vertex colors (forwards to HeightMap::setColor()). An empty vector disables them.

Parameters

Parameter	Description
color (in)	one color per height sample, or empty

update

void update(
    double centerX,
    double centerY,
    double sizeX,
    double sizeY,
    const std::vector<double> &height)

Replace the heights and placement (forwards to HeightMap::update()). The sample counts must not change.

Parameters

Parameter	Description
centerX (in)	x coordinate of the center
centerY (in)	y coordinate of the center
sizeX (in)	size along x
sizeY (in)	size along y
height (in)	new heights (row-major), same count as before

lockMutex

void lockMutex()

Lock this height map's mutex. The server holds it while serializing this height map, so lock it while modifying the height map from another thread. Same as lock().

lock

void lock()

Lock the mutex (BasicLockable interface for std::lock_guard / std::unique_lock).

try_lock

bool try_lock()

Returns true if the mutex was acquired without blocking (Lockable interface).

unlockMutex

void unlockMutex()

Unlock the mutex locked by lockMutex(). Same as unlock().

unlock

void unlock()

Unlock the mutex (BasicLockable interface).

Public attributes

color

raisim::Vec<4> color

RGBA color set by addVisualHeightMap()/setColor(). Currently not transmitted to the visualizer.

obj

raisim::HeightMap obj

Height map object used for visualization.