MeshCSG.hh

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/*
 * Copyright (C) 2012-2015 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 _MESHCSG_HH_
#define _MESHCSG_HH_

#include "gazebo/math/Pose.hh"
#include "gazebo/util/system.hh"

struct _GtsSurface;
typedef _GtsSurface GtsSurface;
struct _GPtrArray;
typedef _GPtrArray GPtrArray;

namespace gazebo
{
  namespace common
  {
    class Mesh;


    class GAZEBO_VISIBLE MeshCSG
    {
      public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};

      public: MeshCSG();

      public: virtual ~MeshCSG();

      public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
          const int _operation, const math::Pose &_offset = math::Pose::Zero);

      private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);

      // are within epsilon
      private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
    };
  }
}

#endif