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ODEHeightmapShape.hh
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1 /*
2  * Copyright 2011 Nate Koenig
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 
29 #include "physics/Collision.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
38 
41  {
43  public: ODEHeightmapShape(CollisionPtr _parent);
44 
46  public: virtual ~ODEHeightmapShape();
47 
49  public: virtual void Init();
50 
52  private: static dReal GetHeightCallback(void *data, int x, int y);
53 
54  private: dHeightfieldDataID odeData;
55  };
56 
58  }
59 }
60 #endif