DART  6.6.2
HeightmapShape.hpp
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32 
33 #ifndef DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
34 #define DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
35 
36 #include "dart/dynamics/Shape.hpp"
37 
38 namespace dart {
39 namespace dynamics {
40 
45 template <typename S_>
46 class HeightmapShape : public Shape
47 {
48 public:
49  using S = S_;
50 
52  = Eigen::Matrix<S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
53 
56 
58  ~HeightmapShape() override = default;
59 
60  // Documentation inherited.
61  const std::string& getType() const override;
62 
64  static const std::string& getStaticType();
65 
71  Eigen::Matrix3d computeInertia(double mass) const override;
72 
75  void setScale(const Eigen::Vector3d& scale);
76 
78  const Eigen::Vector3d& getScale() const;
79 
102  void setHeightField(
103  const std::size_t& width,
104  const std::size_t& depth,
105  const std::vector<S>& heights);
106 
108  const HeightField& getHeightField() const;
109 
112 
114  void flipY() const;
115 
117  std::size_t getWidth() const;
118 
120  std::size_t getDepth() const;
121 
123  S getMinHeight() const;
124 
126  S getMaxHeight() const;
127 
128 protected:
129  // Documentation inherited.
130  void updateBoundingBox() const override;
131 
137  void updateVolume() const override;
138 
142  void computeBoundingBox(Eigen::Vector3d& min, Eigen::Vector3d& max) const;
143 
144 private:
146  Eigen::Vector3d mScale;
147 
150 
154 
158 };
159 
162 
163 } // namespace dynamics
164 } // namespace dart
165 
167 
168 #endif // DART_DYNAMICS_HEIGHTMAPSHAPE_HPP_
Shape for a height map.
Definition: HeightmapShape.hpp:47
const HeightField & getHeightField() const
Returns the height field.
Definition: HeightmapShape-impl.hpp:132
const Eigen::Vector3d & getScale() const
Returns scale of this heightmap.
Definition: HeightmapShape-impl.hpp:83
std::size_t getWidth() const
Returns the width dimension of the height field.
Definition: HeightmapShape-impl.hpp:167
void setScale(const Eigen::Vector3d &scale)
Sets scale of this heightmap.
Definition: HeightmapShape-impl.hpp:71
Eigen::Matrix3d computeInertia(double mass) const override
Computes the inertia.
Definition: HeightmapShape-impl.hpp:181
S_ S
Definition: HeightmapShape.hpp:49
void computeBoundingBox(Eigen::Vector3d &min, Eigen::Vector3d &max) const
Computes the bounding box of the height field.
Definition: HeightmapShape-impl.hpp:192
void updateVolume() const override
Updates volume.
Definition: HeightmapShape-impl.hpp:216
static const std::string & getStaticType()
Returns shape type for this class.
Definition: HeightmapShape-impl.hpp:62
HeightField & getHeightFieldModifiable() const
Returns the modified height field. See also setHeightField().
Definition: HeightmapShape-impl.hpp:139
Eigen::Vector3d mScale
Scale of the heightmap.
Definition: HeightmapShape.hpp:146
HeightField mHeights
Height field.
Definition: HeightmapShape.hpp:149
void flipY() const
Flips the y values in the height field.
Definition: HeightmapShape-impl.hpp:146
void updateBoundingBox() const override
Updates bounding box.
Definition: HeightmapShape-impl.hpp:204
HeightmapShape()
Constructor.
Definition: HeightmapShape-impl.hpp:46
const std::string & getType() const override
Returns a string representing the shape type.
Definition: HeightmapShape-impl.hpp:55
~HeightmapShape() override=default
Destructor.
Eigen::Matrix< S, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > HeightField
Definition: HeightmapShape.hpp:52
S mMaxHeight
Maximum heights.
Definition: HeightmapShape.hpp:157
std::size_t getDepth() const
Returns the height dimension of the height field.
Definition: HeightmapShape-impl.hpp:174
S getMinHeight() const
Returns the minimum height set by setHeightField()
Definition: HeightmapShape-impl.hpp:160
S mMinHeight
Minimum heights.
Definition: HeightmapShape.hpp:153
S getMaxHeight() const
Returns the maximum height set by setHeightField()
Definition: HeightmapShape-impl.hpp:153
void setHeightField(const std::size_t &width, const std::size_t &depth, const std::vector< S > &heights)
Sets the height field.
Definition: HeightmapShape-impl.hpp:90
Definition: Shape.hpp:49
Definition: BulletCollisionDetector.cpp:63