SimbodyMesh.hh
Go to the documentation of this file.
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
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
19 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE SimbodyMesh
36  {
38  public: SimbodyMesh();
39 
41  public: virtual ~SimbodyMesh();
42 
47  public: void Init(const common::SubMesh *_subMesh,
48  SimbodyCollisionPtr _collision,
49  const ignition::math::Vector3d &_scale);
50 
55  public: void Init(const common::Mesh *_mesh,
56  SimbodyCollisionPtr _collision,
57  const ignition::math::Vector3d &_scale);
58 
65  private: void CreateMesh(float *_vertices, int *_indices,
66  unsigned int _numVertices, unsigned int _numIndices,
67  SimbodyCollisionPtr _collision,
68  const ignition::math::Vector3d &_scale);
69  };
71  }
72 }
73 #endif
A 3D mesh.
Definition: Mesh.hh:42
Forward declarations for the common classes.
Definition: Animation.hh:26
A child mesh.
Definition: Mesh.hh:214
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Triangle mesh collision helper class.
Definition: SimbodyMesh.hh:35
Simbody wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.