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BulletHeightmapShape.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* 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: Heightmap collision
* Author: Nate Koenig
* Date: 8 May 2003
*/
#ifndef _BULLETHEIGHTMAPGEOM_HH_
#define _BULLETHEIGHTMAPGEOM_HH_
#include <string>
#include "gazebo/physics/HeightmapShape.hh"
#include "gazebo/physics/bullet/BulletPhysics.hh"
#include "gazebo/physics/Collision.hh"
#include "gazebo/util/system.hh"
class btHeightfieldTerrainShape;
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletHeightmapShape : public HeightmapShape
{
public: explicit BulletHeightmapShape(CollisionPtr _parent);
public: virtual ~BulletHeightmapShape();
public: virtual void Init();
private: btHeightfieldTerrainShape* heightFieldShape;
};
}
}
#endif
HeightmapShape.hh
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
Collision.hh
system.hh
gazebo::physics::BulletHeightmapShape::Init
virtual void Init()
Load the heightmap.
gazebo::physics::BulletHeightmapShape::BulletHeightmapShape
BulletHeightmapShape(CollisionPtr _parent)
Constructor.
gazebo::physics::BulletHeightmapShape
Height map collision.
Definition: BulletHeightmapShape.hh:42
gazebo::physics::HeightmapShape
HeightmapShape collision shape builds a heightmap from an image. The supplied image must be square wi...
Definition: HeightmapShape.hh:45
BulletPhysics.hh
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
gazebo::physics::BulletHeightmapShape::~BulletHeightmapShape
virtual ~BulletHeightmapShape()
Destructor.