ODEHeightmapShape.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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 Keonig
 * Date: 12 Nov 2009
 */

#ifndef ODEHEIGHTMAPSHAPE_HH
#define ODEHEIGHTMAPSHAPE_HH

#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: void FillHeightMap();
  
      private: static dReal GetHeightCallback(void *data, int x, int y);
  
      private: dHeightfieldDataID odeData;
  
      private: unsigned int odeVertSize;
      private: math::Vector3 odeScale;
  
      private: std::vector<double> heights;
    };
  
  }
}
#endif