BulletHeightmapShape.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.
15 *
16*/
17/* Desc: Heightmap collision
18 * Author: Nate Koenig
19 * Date: 8 May 2003
20 */
21
22#ifndef _BULLETHEIGHTMAPGEOM_HH_
23#define _BULLETHEIGHTMAPGEOM_HH_
24#include <string>
25
29#include "gazebo/util/system.hh"
30
31class btHeightfieldTerrainShape;
32
33namespace gazebo
34{
35 namespace physics
36 {
40
42 class GZ_PHYSICS_VISIBLE BulletHeightmapShape : public HeightmapShape
43 {
45 public: explicit BulletHeightmapShape(CollisionPtr _parent);
46
48 public: virtual ~BulletHeightmapShape();
49
51 public: virtual void Init();
52
53 private: btHeightfieldTerrainShape* heightFieldShape;
54 };
56 }
57}
58#endif
Height map collision.
Definition BulletHeightmapShape.hh:43
virtual ~BulletHeightmapShape()
Destructor.
virtual void Init()
Load the heightmap.
BulletHeightmapShape(CollisionPtr _parent)
Constructor.
HeightmapShape collision shape builds a heightmap from an image.
Definition HeightmapShape.hh:46
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27