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# heightfieldprimitive.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  ***************************************************************************
    00022  *                                                                         *
    00023  *  DESCRIPTION                                                            *
    00024  *                                                                         *
    00025  *   $Log: heightfieldprimitive.h,v $
    00026  *   Revision 1.3  2007/07/17 07:18:19  martius
    00027  *   setMass added (dummy)
    00028  *
    00029  *   Revision 1.2  2006/07/14 12:23:34  martius
    00030  *   selforg becomes HEAD
    00031  *
    00032  *   Revision 1.1.2.1  2006/05/28 22:14:56  martius
    00033  *   heightfield included
    00034  *
    00035  *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
    00036  *   *** empty log message ***
    00037  *
    00038  *                                                                 *
    00039  ***************************************************************************/
    00040 #ifndef __HEIGHTFIELDPRIMITIVES_H
    00041 #define __HEIGHTFIELDPRIMITIVES_H
    00042
    00043 #include "primitive.h"
    00044 #include "osgheightfield.h"
    00045 #include <ode/ode.h>
    00046
    00047 namespace lpzrobots {
    00048
    00049
    00050   /** Height field primitive */
    00051   class HeightField : public Primitive {
    00052   public:
    00053     HeightField(const std::string& filename, float x_size, float y_size, float height);
    00054     HeightField(osg::HeightField* heightfield, float x_size, float y_size);
    00055
    00056     virtual ~HeightField();
    00057     virtual void init(const OdeHandle& odeHandle, double mass,
    00058                       const OsgHandle& osgHandle,
    00059                       char mode = Body | Geom | Draw) ;
    00060
    00061
    00062     virtual void setPose(const osg::Matrix& pose);
    00063
    00064     virtual void update();
    00065     virtual OSGPrimitive* getOSGPrimitive() { return osgheightfield; }
    00066
    00067     virtual void setMass(double mass) {}
    00068
    00069   protected:
    00070     OSGHeightField* osgheightfield;
    00071     dTriMeshDataID data;
    00072
    00073     OSGPrimitive* test[20];
    00074   };
    00075
    00076
    00077 }
    00078
    00079 #endif