BulletHeightmapShape.hh
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1 /*
2  * Copyright (C) 2012 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: Heightmap collision
18  * Author: Nate Koenig
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _BULLETHEIGHTMAPGEOM_HH_
23 #define _BULLETHEIGHTMAPGEOM_HH_
24 #include <string>
25 
29 #include "gazebo/util/system.hh"
30 
31 class btHeightfieldTerrainShape;
32 
33 namespace gazebo
34 {
35  namespace physics
36  {
40 
42  class GZ_PHYSICS_VISIBLE BulletHeightmapShape : public HeightmapShape
43  {
45  public: BulletHeightmapShape(CollisionPtr _parent);
46 
48  public: virtual ~BulletHeightmapShape();
49 
51  public: virtual void Init();
52 
53  private: btHeightfieldTerrainShape* heightFieldShape;
54  };
56  }
57 }
58 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
HeightmapShape collision shape builds a heightmap from an image.
Definition: HeightmapShape.hh:46
Height map collision.
Definition: BulletHeightmapShape.hh:42
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113