ODEHeightmapShape.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: ODE Heightmap shape
 * Author: Nate Koenig
 * Date: 12 Nov 2009
 */

#ifndef ODEHEIGHTMAPSHAPE_HH
#define ODEHEIGHTMAPSHAPE_HH

#include <vector>

#include "physics/HeightmapShape.hh"
#include "physics/ode/ODEPhysics.hh"
#include "physics/Collision.hh"

namespace gazebo
{
  namespace physics
  {

    class ODEHeightmapShape : public HeightmapShape
    {
      public: ODEHeightmapShape(CollisionPtr _parent);

      public: virtual ~ODEHeightmapShape();

      public: virtual void Init();

      private: static dReal GetHeightCallback(void *data, int x, int y);

      private: dHeightfieldDataID odeData;
    };

  }
}
#endif