Robot Simulator of the Robotics Group for Self-Organization of Control: heightfieldprimitive.h Source File

# heightfieldprimitive.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __HEIGHTFIELDPRIMITIVES_H
    00025 #define __HEIGHTFIELDPRIMITIVES_H
    00026
    00027 #include "primitive.h"
    00028 #include "osgheightfield.h"
    00029 #include <ode-dbl/ode.h>
    00030
    00031 namespace lpzrobots {
    00032
    00033
    00034   /** Height field primitive */
    00035   class HeightField : public Primitive {
    00036   public:
    00037     HeightField(const std::string& filename, float x_size, float y_size, float height);
    00038     HeightField(osg::HeightField* heightfield, float x_size, float y_size);
    00039
    00040     virtual ~HeightField();
    00041     virtual void init(const OdeHandle& odeHandle, double mass,
    00042                       const OsgHandle& osgHandle,
    00043                       char mode = Body | Geom | Draw) ;
    00044
    00045
    00046     virtual void setPose(const osg::Matrix& pose);
    00047
    00048     virtual void update();
    00049     virtual OSGPrimitive* getOSGPrimitive() { return osgheightfield; }
    00050
    00051     virtual void setMass(double mass) {}
    00052
    00053   protected:
    00054     OSGHeightField* osgheightfield;
    00055     dTriMeshDataID data;
    00056
    00057   };
    00058
    00059
    00060 }
    00061
    00062 #endif