heightfieldprimitive.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
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 *                                                                         *
 ***************************************************************************/
#ifndef __HEIGHTFIELDPRIMITIVES_H
#define __HEIGHTFIELDPRIMITIVES_H

#include "primitive.h"
#include "osgheightfield.h"
#include <ode-dbl/ode.h>

namespace lpzrobots {


  /** Height field primitive */
  class HeightField : public Primitive {
  public:
    HeightField(const std::string& filename, float x_size, float y_size, float height);
    HeightField(osg::HeightField* heightfield, float x_size, float y_size);

    virtual ~HeightField();
    virtual void init(const OdeHandle& odeHandle, double mass,
                      const OsgHandle& osgHandle,
                      char mode = Body | Geom | Draw) ;


    virtual void setPose(const osg::Matrix& pose);

    virtual void update();
    virtual OSGPrimitive* getOSGPrimitive() { return osgheightfield; }

    virtual void setMass(double mass, bool density = false) {}

  protected:
    OSGHeightField* osgheightfield;
    dTriMeshDataID data;

  };


}

#endif