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I've started work on this in the following branch, but I haven't finished the CustomHeightmapShape constructor and probably need to change the parameters in the AttachHeightmapShape API (I had initially copied the mesh API)
DART supports heightmap geometries. We should tie that into Ignition Physics.
This is needed by gazebosim/gz-sim#237.
It can make use of this PR adding heightmaps to SDF: gazebosim/sdformat#388
See gazebo::physics::DARTHeightmapShape as reference.
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