18#ifndef GAZEBO_PHYSICS_ODE_ODEMESH_HH_
19#define GAZEBO_PHYSICS_ODE_ODEMESH_HH_
21#include <ignition/math/Vector3.hh>
50 const ignition::math::Vector3d &_scale);
58 const ignition::math::Vector3d &_scale);
67 private:
void CreateMesh(
unsigned int _numVertices,
69 const ignition::math::Vector3d &_scale);
72 private: dReal transform[16*2];
75 private:
int transformIndex;
78 private:
float *vertices;
81 private:
int *indices;
84 private: dTriMeshDataID odeData;
87 private: dGeomID collisionId;
ODE wrapper forward declarations and typedefs.
A 3D mesh.
Definition Mesh.hh:43
A child mesh.
Definition Mesh.hh:215
Triangle mesh helper class.
Definition ODEMesh.hh:37
virtual ~ODEMesh()
Destructor.
void Init(const common::SubMesh *_subMesh, ODECollisionPtr _collision, const ignition::math::Vector3d &_scale)
Create a mesh collision shape using a submesh.
void Init(const common::Mesh *_mesh, ODECollisionPtr _collision, const ignition::math::Vector3d &_scale)
Create a mesh collision shape using a mesh.
virtual void Update()
Update the collision mesh.
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition ODETypes.hh:39
Forward declarations for the common classes.
Definition Animation.hh:27