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TerrainGeom.hh
Go to the documentation of this file.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
