ODEMesh.hh

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/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_PHYSICS_ODE_ODEMESH_HH_
#define GAZEBO_PHYSICS_ODE_ODEMESH_HH_

#include <ignition/math/Vector3.hh>

#include "gazebo/physics/ode/ODETypes.hh"
#include "gazebo/physics/ode/ode_inc.h"
#include "gazebo/physics/MeshShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE ODEMesh
    {
      public: explicit ODEMesh();

      public: virtual ~ODEMesh();

      public: void Init(const common::SubMesh *_subMesh,
                      ODECollisionPtr _collision,
                      const ignition::math::Vector3d &_scale);

      public: void Init(const common::Mesh *_mesh,
                      ODECollisionPtr _collision,
                      const ignition::math::Vector3d &_scale);

      public: virtual void Update();

      private: void CreateMesh(unsigned int _numVertices,
                   unsigned int _numIndices, ODECollisionPtr _collision,
                   const ignition::math::Vector3d &_scale);

      private: dReal transform[16*2];

      private: int transformIndex;

      private: float *vertices;

      private: int *indices;

      private: dTriMeshDataID odeData;

      private: dGeomID collisionId;
    };
  }
}
#endif