ODEHeightmapShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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: ODE Heightmap shape
18  * Author: Nate Koenig
19  * Date: 12 Nov 2009
20  */
21 
22 #ifndef _ODEHEIGHTMAPSHAPE_HH_
23 #define _ODEHEIGHTMAPSHAPE_HH_
24 
25 #include <vector>
26 
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
38  {
41  public: ODEHeightmapShape(CollisionPtr _parent);
42 
44  public: virtual ~ODEHeightmapShape();
45 
46  // Documentation inerited.
47  public: virtual void Init();
48 
53  private: static dReal GetHeightCallback(void *_data, int _x, int _y);
54 
56  private: dHeightfieldDataID odeData;
57  };
58  }
59 }
60 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
HeightmapShape collision shape builds a heightmap from an image.
Definition: HeightmapShape.hh:48
ODE Height map collision.
Definition: ODEHeightmapShape.hh:37
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.