GTSMeshUtils.hh

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/*
 * Copyright (C) 2014-2016 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_GTSMESHUTILS_HH_
#define _GAZEBO_GTSMESHUTILS_HH_

#include <vector>

#include <ignition/math/Vector2.hh>

#include "gazebo/common/Mesh.hh"
#include "gazebo/math/Vector2d.hh"
#include "gazebo/math/Vector2i.hh"

struct _GtsSurface;
typedef _GtsSurface GtsSurface;


namespace gazebo
{
  namespace common
  {
    class Mesh;


    class GZ_COMMON_VISIBLE GTSMeshUtils
    {
      public: static bool DelaunayTriangulation(
                  const std::vector<ignition::math::Vector2d> &_vertices,
                  const std::vector<ignition::math::Vector2i> &_edges,
                  SubMesh *_submesh);


      private: static GtsSurface *DelaunayTriangulation(
                   const std::vector<ignition::math::Vector2d> &_vertices,
                   const std::vector<ignition::math::Vector2i> &_edges);
    };
  }
}
#endif