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DARTMesh.hh
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/*
* Copyright (C) 2014 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PHYSICS_DART_DARTMESH_HH_
#define GAZEBO_PHYSICS_DART_DARTMESH_HH_
#include <ignition/math/Vector3.hh>
#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class DARTMeshPrivate;
class GZ_PHYSICS_VISIBLE DARTMesh
{
public: DARTMesh();
public: virtual ~DARTMesh();
public: void Init(const common::SubMesh *_subMesh,
DARTCollisionPtr _collision,
const ignition::math::Vector3d &_scale);
public: void Init(const common::Mesh *_mesh,
DARTCollisionPtr _collision,
const ignition::math::Vector3d &_scale);
public: dart::dynamics::ShapeNodePtr ShapeNode() const;
private: void CreateMesh(float *_vertices, int *_indices,
unsigned int _numVertices, unsigned int _numIndices,
DARTCollisionPtr _collision,
const ignition::math::Vector3d &_scale);
private: DARTMeshPrivate *dataPtr;
};
}
}
#endif
gazebo::physics::DARTMesh::~DARTMesh
virtual ~DARTMesh()
Destructor.
DARTTypes.hh
DART wrapper forward declarations and typedefs.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::DARTMesh::Init
void Init(const common::SubMesh *_subMesh, DARTCollisionPtr _collision, const ignition::math::Vector3d &_scale)
Create a mesh collision shape using a submesh.
system.hh
gazebo::common::SubMesh
A child mesh.
Definition: Mesh.hh:214
gazebo::physics::DARTMesh::ShapeNode
dart::dynamics::ShapeNodePtr ShapeNode() const
Returns the DART mesh shape node.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::common::Mesh
A 3D mesh.
Definition: Mesh.hh:42
gazebo::physics::DARTMesh::DARTMesh
DARTMesh()
Constructor.
gazebo::physics::DARTCollisionPtr
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:49
gazebo::physics::DARTMesh
Triangle mesh collision helper class.
Definition: DARTMesh.hh:38