DARTMeshShape.hh

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/*
 * Copyright 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_DARTMESHSHAPE_HH_
#define _GAZEBO_DARTMESHSHAPE_HH_

#include "gazebo/physics/MeshShape.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class GAZEBO_VISIBLE DARTMeshShape : public MeshShape
    {
      public: explicit DARTMeshShape(CollisionPtr _parent);

      public: virtual ~DARTMeshShape();

      // Documentation inherited
      public: virtual void Load(sdf::ElementPtr _sdf);

      // Documentation inherited
      public: virtual void Init();

      // Documentation inherited
      public: virtual void Update();

      // private: dReal transform[16*2];

      private: int transformIndex;

      private: float *vertices;

      private: int *indices;

      // private: dTriMeshDataID odeData;
    };
  }
}
#endif