65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: ODE Heightmap shape
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* Author: Nate Koenig
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* Date: 12 Nov 2009
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*/
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#ifndef _ODEHEIGHTMAPSHAPE_HH_
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#define _ODEHEIGHTMAPSHAPE_HH_
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#include <vector>
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#include "gazebo/physics/HeightmapShape.hh"
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#include "gazebo/physics/ode/ODEPhysics.hh"
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#include "gazebo/physics/Collision.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics_ode
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/// \{
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/// \brief ODE Height map collision.
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class GZ_PHYSICS_VISIBLE ODEHeightmapShape : public HeightmapShape
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{
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/// \brief Constructor.
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/// \param[in] _parent Collision parent.
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public: ODEHeightmapShape(CollisionPtr _parent);
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/// \brief Destructor
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public: virtual ~ODEHeightmapShape();
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// Documentation inerited.
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public: virtual void Init();
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/// \brief Called by ODE to get the height at a vertex.
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/// \param[in] _data Pointer to the heightmap data.
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/// \param[in] _x X location.
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/// \param[in] _y Y location.
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private: static dReal GetHeightCallback(void *_data, int _x, int _y);
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/// \brief The heightmap data.
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private: dHeightfieldDataID odeData;
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};
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/// \}
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}
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}
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#endif
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