Terrain.hh

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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
Last updated 12 September 2005 21:38:45