https://github.com/xbpeng/DeepTerrainRL
Tip revision: ed82e2ebe5f14fa875cc3d0a2180c64980408e8f authored by Glen on 19 October 2016, 17:49:36 UTC
Update README.md
Update README.md
Tip revision: ed82e2e
GroundVar2D.h
#pragma once
#include "sim/Ground.h"
#include "sim/TerrainGen2D.h"
#include "util/Rand.h"
class cGroundVar2D : public cGround
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
enum ePadding
{
ePaddingNone,
ePaddingFlat,
ePaddingMax
};
struct tParams
{
tParams();
double mFriction;
double mSegmentWidth;
ePadding mPadding;
};
cGroundVar2D();
virtual ~cGroundVar2D();
virtual void Init(std::shared_ptr<cWorld> world, const tParams& params,
const tVector& bound_min, const tVector& bound_max);
virtual void Update(const tVector& bound_min, const tVector& bound_max);
virtual void Clear();
virtual double SampleHeight(const tVector& pos) const;
virtual double SampleHeight(const tVector& pos, bool& out_valid_sample) const;
virtual void SampleHeight(const Eigen::MatrixXd& pos, Eigen::VectorXd& out_h) const;
virtual eGroundType GetGroundType() const;
virtual int GetGridWidth() const;
virtual int GetGridLength() const;
virtual tVector GetVertex(int i, int j) const;
virtual tVector CalcGridCoord(const tVector& pos) const;
virtual tVector GetPos() const;
virtual double GetWidth() const;
virtual void SetTerrainFunc(cTerrainGen2D::tTerrainFunc func);
virtual void SeedRand(unsigned long seed);
protected:
static const int gNumSegments = 2;
enum eAlignMode
{
eAlignMin,
eAlignMax
};
struct tSegment : public cSimObj
{
static const int gGridLength;
static const double gGridSpacingX;
static const double gGridSpacingZ;
tSegment();
virtual ~tSegment();
void Init(std::shared_ptr<cWorld> world, double min_x, double friction);
void Clear();
bool IsEmpty() const;
const double GetMinX() const;
const double GetMaxX() const;
int GetGridWidth() const;
int GetGridLength() const;
double GetWidth() const;
double GetLength() const;
tVector GetScaling() const;
tVector GetVertex(int i, int j) const;
int CalcDataIdx(int i, int j) const;
double SampleHeight(const tVector& pos, bool& out_valid_sample) const;
double GetStartHeight() const;
double GetEndHeight() const;
tVector CalcGridCoord(const tVector& pos) const;
bool OutsideGrid(const tVector& coord) const;
tVector ClampCoord(const tVector& coord) const;
std::vector<float> mData;
double mMinX;
};
tParams mParams;
cRand mRand;
cTerrainGen2D::tTerrainFunc mTerrainFunc;
bool mFlipSeg;
std::unique_ptr<tSegment> mSegments[gNumSegments];
virtual void ResetParams();
virtual bool OutsideGrid(const tVector& coord) const;
virtual void InitSegments(const tVector& bound_min, const tVector& bound_max);
virtual void ClearSegments();
virtual int GetSegID(int s) const;
virtual const std::unique_ptr<tSegment>& GetSegment(int s) const;
virtual std::unique_ptr<tSegment>& GetSegment(int s);
virtual const std::unique_ptr<tSegment>& GetMinSegment() const;
virtual const std::unique_ptr<tSegment>& GetMaxSegment() const;
virtual eAlignMode GetSegAlignMode(int seg_id) const;
virtual void BuildSegment(int seg_id, double bound_min, double bound_max,
eAlignMode align_mode, const tVector& fix_point);
virtual void AddPadding(int seg_id, double bound_min, double bound_max);
virtual double GetMinX() const;
virtual double GetMidX() const;
virtual double GetMaxX() const;
};