OdeHeightmap.hpp

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#ifndef DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_
#define DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_
 
#include <ode/ode.h>
 
#include "dart/collision/ode/detail/OdeGeom.hpp"
#include "dart/dynamics/HeightmapShape.hpp"
 
namespace dart {
namespace collision {
namespace detail {
 
template <typename S>
class OdeHeightmap : public OdeGeom
{
public:
  OdeHeightmap(
      const OdeCollisionObject* parent, const dynamics::HeightmapShape<S>* hs);
 
  ~OdeHeightmap() override;
 
private:
  dHeightfieldDataID mOdeHeightfieldId;
};
 
using OdeHeightmapf = OdeHeightmap<float>;
using OdeHeightmapd = OdeHeightmap<double>;
 
} // namespace detail
} // namespace collision
} // namespace dart
 
#include "dart/collision/ode/detail/OdeHeightmap-impl.hpp"
 
#endif // DART_COLLISION_ODE_DETAIL_ODEHEIGHTMAP_HPP_