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Terrain.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: Model for a terrain 00022 * Author: Nathan Koenig 00023 * Date: 5 Feb 2004 00024 * CVS: $Id: Terrain.hh,v 1.12 2004/11/12 00:15:34 inspectorg Exp $ 00025 */ 00026 00027 #ifndef TERRAIN_HH 00028 #define TERRAIN_HH 00029 00030 class TerrainGeom; 00031 class TerrainTree; 00032 00033 class Terrain : public Model 00034 { 00035 public: Terrain( World *world ); 00036 public: virtual ~Terrain(); 00037 00038 // Load the model 00039 public: virtual int Load( WorldFile *file, WorldFileNode *node ); 00040 00041 // Initialize the model 00042 public: virtual int Init( WorldFile *file, WorldFileNode *node ); 00043 00044 // Finalize the model 00045 public: virtual int Fini(); 00046 00047 // Update the model state 00048 public: virtual void Update( double step ); 00049 00050 // Ray-intersection callback 00051 private: static void UpdateCallback( void *data, dGeomID o1, dGeomID o2 ); 00052 00053 // Load ODE stuff 00054 private: int OdeLoad( WorldFile *file, WorldFileNode *node ); 00055 00056 private: GLfloat *vertices; 00057 private: unsigned int vertexCount; 00058 private: GLuint *indices; 00059 private: unsigned int indexCount; 00060 private: GLuint *odeIndices; 00061 private: unsigned int odeIndexCount; 00062 00063 private: Body *body; 00064 00065 private: TerrainGeom *terrainGeom; 00066 }; 00067 00068 #endif
