MeshCSG.hh
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1/*
2 * Copyright (C) 2012 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.
15 *
16*/
17#ifndef _GAZEBO_MESHCSG_HH_
18#define _GAZEBO_MESHCSG_HH_
19
20#include <ignition/math/Pose3.hh>
21
22#include "gazebo/util/system.hh"
23
24struct _GtsSurface;
25typedef _GtsSurface GtsSurface;
26struct _GPtrArray;
27typedef _GPtrArray GPtrArray;
28
29namespace gazebo
30{
31 namespace common
32 {
33 class Mesh;
34
37
40 class GZ_COMMON_VISIBLE MeshCSG
41 {
43 public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
44
46 public: MeshCSG();
47
49 public: virtual ~MeshCSG();
50
57 public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
58 const int _operation,
59 const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
60
62 private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
63
65 // are within epsilon
68 private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
69 };
71 }
72}
73
74#endif
common
Definition FuelModelDatabase.hh:37
_GtsSurface GtsSurface
Definition GTSMeshUtils.hh:28
_GtsSurface GtsSurface
Definition MeshCSG.hh:25
_GPtrArray GPtrArray
Definition MeshCSG.hh:27
Creates CSG meshes.
Definition MeshCSG.hh:41
BooleanOperation
An enumeration of the boolean operations.
Definition MeshCSG.hh:43
@ UNION
Definition MeshCSG.hh:43
@ INTERSECTION
Definition MeshCSG.hh:43
@ DIFFERENCE
Definition MeshCSG.hh:43
Mesh * CreateBoolean(const Mesh *_m1, const Mesh *_m2, const int _operation, const ignition::math::Pose3d &_offset=ignition::math::Pose3d::Zero)
Create a boolean mesh from two meshes.
virtual ~MeshCSG()
Destructor.
A 3D mesh.
Definition Mesh.hh:43
Forward declarations for the common classes.
Definition Animation.hh:27