RayQuery.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
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16*/
17#ifndef GAZEBO_RENDERING_RAYQUERY_HH_
18#define GAZEBO_RENDERING_RAYQUERY_HH_
19
20#include <memory>
21#include <vector>
22#include <ignition/math/Triangle3.hh>
23#include <ignition/math/Vector3.hh>
24
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
32 namespace rendering
33 {
34 class RayQueryPrivate;
35
38
42 class GZ_RENDERING_VISIBLE RayQuery
43 {
46 public: explicit RayQuery(CameraPtr _camera);
47
49 public: ~RayQuery();
50
59 public: bool SelectMeshTriangle(const int _x, const int _y,
60 const VisualPtr &_visual,
61 ignition::math::Vector3d &_intersect,
62 ignition::math::Triangle3d &_triangle) const;
63
67 private: void MeshVisuals(const rendering::VisualPtr _visual,
68 std::vector<rendering::VisualPtr> &_visuals) const;
69
72 private: std::unique_ptr<RayQueryPrivate> dataPtr;
73 };
75 }
76}
77#endif
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