Gazebo Common

API Reference

5.5.1
gz/common/MeshCSG.hh
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1/*
2 * Copyright (C) 2016 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 GZ_COMMON_MESHCSG_HH_
18#define GZ_COMMON_MESHCSG_HH_
19
20#include <gz/math/Pose3.hh>
21
22#include <gz/common/graphics/Export.hh>
23
24struct _GtsSurface;
25typedef _GtsSurface GtsSurface;
26struct _GPtrArray;
27typedef _GPtrArray GPtrArray;
28
29namespace gz
30{
31 namespace common
32 {
33 class Mesh;
34
37 class GZ_COMMON_GRAPHICS_VISIBLE MeshCSG
38 {
40 public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
41
43 public: MeshCSG();
44
46 public: virtual ~MeshCSG();
47
54 public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
55 const int _operation,
57
59 private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
60
62 // are within epsilon
65 private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
66 };
67 }
68}
69
70#endif