ODEHeightmapShape.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16*/
17#ifndef GAZEBO_PHYSICS_ODE_ODEHEIGHTMAPSHAPE_HH_
18#define GAZEBO_PHYSICS_ODE_ODEHEIGHTMAPSHAPE_HH_
19
20#include <vector>
21
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
33
35 class GZ_PHYSICS_VISIBLE ODEHeightmapShape : public HeightmapShape
36 {
39 public: explicit ODEHeightmapShape(CollisionPtr _parent);
40
42 public: virtual ~ODEHeightmapShape();
43
44 // Documentation inerited.
45 public: virtual void Init();
46
51 private: static dReal GetHeightCallback(void *_data, int _x, int _y);
52
54 private: dHeightfieldDataID odeData;
55 };
57 }
58}
59#endif
HeightmapShape collision shape builds a heightmap from an image.
Definition HeightmapShape.hh:46
ODE Height map collision.
Definition ODEHeightmapShape.hh:36
virtual void Init()
Initialize the heightmap.
virtual ~ODEHeightmapShape()
Destructor.
ODEHeightmapShape(CollisionPtr _parent)
Constructor.
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27