All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
TrimeshShape.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2012 Nate Koenig
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 /* Desc: Trimesh geometry
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _TRIMESHSHAPE_HH_
23 #define _TRIMESHSHAPE_HH_
24 
25 #include <string>
26 
29 #include "gazebo/physics/Shape.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
37 
40  class TrimeshShape : public Shape
41  {
44  public: explicit TrimeshShape(CollisionPtr _parent);
45 
47  public: virtual ~TrimeshShape();
48 
50  public: virtual void Update() {}
51 
53  public: virtual void Init();
54 
57  public: virtual math::Vector3 GetSize() const;
58 
61  public: std::string GetFilename() const;
62 
65  public: void SetFilename(const std::string &_filename);
66 
69  public: void SetScale(const math::Vector3 &_scale);
70 
74  public: void FillMsg(msgs::Geometry &_msg);
75 
78  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
79 
81  public: virtual double GetMass(double _density) const GAZEBO_DEPRECATED;
82 
84  protected: const common::Mesh *mesh;
85  };
87  }
88 }
89 #endif