DARTMesh.hh
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1/*
2 * Copyright (C) 2014 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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16*/
17
18#ifndef GAZEBO_PHYSICS_DART_DARTMESH_HH_
19#define GAZEBO_PHYSICS_DART_DARTMESH_HH_
20
21#include <ignition/math/Vector3.hh>
22
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace physics
29 {
33
35 class DARTMeshPrivate;
36
38 class GZ_PHYSICS_VISIBLE DARTMesh
39 {
41 public: DARTMesh();
42
44 public: virtual ~DARTMesh();
45
50 public: void Init(const common::SubMesh *_subMesh,
51 DARTCollisionPtr _collision,
52 const ignition::math::Vector3d &_scale);
53
58 public: void Init(const common::Mesh *_mesh,
59 DARTCollisionPtr _collision,
60 const ignition::math::Vector3d &_scale);
61
63 public: dart::dynamics::ShapeNodePtr ShapeNode() const;
64
71 private: void CreateMesh(float *_vertices, int *_indices,
72 unsigned int _numVertices, unsigned int _numIndices,
73 DARTCollisionPtr _collision,
74 const ignition::math::Vector3d &_scale);
75
78 private: DARTMeshPrivate *dataPtr;
79 };
81 }
82}
83#endif
DART wrapper forward declarations and typedefs.
A 3D mesh.
Definition Mesh.hh:43
A child mesh.
Definition Mesh.hh:215
Triangle mesh collision helper class.
Definition DARTMesh.hh:39
dart::dynamics::ShapeNodePtr ShapeNode() const
Returns the DART mesh shape node.
void Init(const common::SubMesh *_subMesh, DARTCollisionPtr _collision, const ignition::math::Vector3d &_scale)
Create a mesh collision shape using a submesh.
void Init(const common::Mesh *_mesh, DARTCollisionPtr _collision, const ignition::math::Vector3d &_scale)
Create a mesh collision shape using a mesh.
virtual ~DARTMesh()
Destructor.
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition DARTTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27