TerrainGeom.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Terrain geometry
00022  * Author: Nate Keonig
00023  * Date: 02 Sept 2003
00024  * CVS: $Id: TerrainGeom.hh,v 1.14 2004/11/10 08:21:44 inspectorg Exp $
00025  */
00026 
00027 #ifndef TERRAINGEOM_HH
00028 #define TERRAINGEOM_HH
00029 
00030 #include <ode/ode.h>
00031 #include "Global.hh"
00032 #include "Geom.hh"
00033 
00034 class TerrainGeom : public Geom
00035 {
00036   // Constructor
00037   public: TerrainGeom( Body *body, dSpaceID spaceId );
00038 
00039   // Destructor
00040   public: virtual ~TerrainGeom();
00041 
00042   // Load the terrain from the height data
00043   public: void Load( GLfloat *packedVertices, unsigned int vertexCount, 
00044                        GLuint *indices, unsigned int indexCount,
00045                        GLuint *odeIndices, unsigned int odeIndexCount);
00046 
00047   // Render the geom (GL)
00048   public: virtual void Render(RenderOptions *opt);
00049 
00050   public: void RenderODE();
00051 
00052   // OpenGL data of the terrain
00053   private: GLfloat *vertices;
00054   private: unsigned int vertexCount;
00055   private: GLuint *indices;
00056   private: unsigned int indexCount;
00057 
00058   // ODE Collision detection attributes
00059   private: dTriMeshDataID odeData;
00060   private: GLuint *odeIndices;
00061   private: unsigned int odeIndexCount;
00062 };
00063 
00064 #endif
Last updated 12 September 2005 21:38:45