18#ifndef GAZEBO_PHYSICS_DART_DARTMESH_HH_
19#define GAZEBO_PHYSICS_DART_DARTMESH_HH_
21#include <ignition/math/Vector3.hh>
35 class DARTMeshPrivate;
52 const ignition::math::Vector3d &_scale);
60 const ignition::math::Vector3d &_scale);
63 public: dart::dynamics::ShapeNodePtr
ShapeNode()
const;
71 private:
void CreateMesh(
float *_vertices,
int *_indices,
72 unsigned int _numVertices,
unsigned int _numIndices,
74 const ignition::math::Vector3d &_scale);
78 private: DARTMeshPrivate *dataPtr;
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