HeightmapShape.hpp

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#ifndef DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
#define DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
template <typename S_>
class HeightmapShape : public Shape
{
public:
  using S = S_;
 
  using Vector3 = Eigen::Matrix<S, 3, 1>;
  using HeightField
      = Eigen::Matrix<S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
 
  HeightmapShape();
 
  ~HeightmapShape() override = default;
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  void setScale(const Vector3& scale);
 
  const Vector3& getScale() const;
 
  void setHeightField(
      const std::size_t& width,
      const std::size_t& depth,
      const std::vector<S>& heights);
 
  void setHeightField(const HeightField& heights);
 
  const HeightField& getHeightField() const;
 
  HeightField& getHeightFieldModifiable() const;
 
  void flipY() const;
 
  std::size_t getWidth() const;
 
  std::size_t getDepth() const;
 
  S getMinHeight() const;
 
  S getMaxHeight() const;
 
  void notifyColorUpdated(const Eigen::Vector4d& color) override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  void updateVolume() const override;
 
  void computeBoundingBox(Eigen::Vector3d& min, Eigen::Vector3d& max) const;
 
private:
  Vector3 mScale;
 
  mutable HeightField mHeights;
 
  S mMinHeight;
 
  S mMaxHeight;
};
 
using HeightmapShapef = HeightmapShape<float>;
using HeightmapShaped = HeightmapShape<double>;
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/HeightmapShape-impl.hpp"
 
#endif // DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_