17#ifndef GAZEBO_RENDERING_RAYQUERY_HH_
18#define GAZEBO_RENDERING_RAYQUERY_HH_
22#include <ignition/math/Triangle3.hh>
23#include <ignition/math/Vector3.hh>
34 class RayQueryPrivate;
61 ignition::math::Vector3d &_intersect,
62 ignition::math::Triangle3d &_triangle)
const;
68 std::vector<rendering::VisualPtr> &_visuals)
const;
72 private: std::unique_ptr<RayQueryPrivate> dataPtr;
rendering
Definition RenderEngine.hh:31
A Ray Query class used for retrieving mesh data of a visual, adapted from Ogre3D wiki.
Definition RayQuery.hh:43
RayQuery(CameraPtr _camera)
Constructor.
bool SelectMeshTriangle(const int _x, const int _y, const VisualPtr &_visual, ignition::math::Vector3d &_intersect, ignition::math::Triangle3d &_triangle) const
Select a triangle on mesh given screen coordinates.
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
boost::shared_ptr< Camera > CameraPtr
Definition RenderTypes.hh:90
Forward declarations for the common classes.
Definition Animation.hh:27