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MeshCSG.hh
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1 /*
2  * Copyright 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 _MESHCSG_HH_
18 #define _MESHCSG_HH_
19 
20 #include "gazebo/math/Pose.hh"
21 
22 struct _GtsSurface;
23 typedef _GtsSurface GtsSurface;
24 struct _GPtrArray;
25 typedef _GPtrArray GPtrArray;
26 
27 namespace gazebo
28 {
29  namespace common
30  {
31  class Mesh;
32 
35 
38  class MeshCSG
39  {
42 
44  public: MeshCSG();
45 
47  public: virtual ~MeshCSG();
48 
55  public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
56  const int _operation, const math::Pose &_offset = math::Pose::Zero);
57 
59  private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
60 
62  // are within epsilon
65  private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
66  };
68  }
69 }
70 
71 #endif