us.ihmc.simulationconstructionset.HeightMapFromGroundContactModel Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of simulation-construction-set

Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset;

import us.ihmc.graphicsDescription.HeightMap;
import us.ihmc.jMonkeyEngineToolkit.GroundProfile3D;

public class HeightMapFromGroundContactModel
{

   public static HeightMap getHeightMap(GroundContactModel groundContactModel)
   {
      HeightMap heightMap = null;

      if (groundContactModel != null)
      {
         GroundProfile3D groundProfile3D = groundContactModel.getGroundProfile3D();

         if (groundProfile3D != null)
            heightMap = groundProfile3D.getHeightMapIfAvailable();
      }

      return heightMap;
   }

}