MeshShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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
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15  *
16 */
17 /* Desc: Trimesh geometry
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _MESHSHAPE_HH_
23 #define _MESHSHAPE_HH_
24 
25 #include <string>
26 
29 #include "gazebo/physics/Shape.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
38 
41  class GZ_PHYSICS_VISIBLE MeshShape : public Shape
42  {
45  public: explicit MeshShape(CollisionPtr _parent);
46 
48  public: virtual ~MeshShape();
49 
51  public: virtual void Update() {}
52 
54  public: virtual void Init();
55 
58  public: virtual math::Vector3 GetSize() const;
59 
62  public: std::string GetMeshURI() const;
63 
69  public: void SetMesh(const std::string &_uri,
70  const std::string &_submesh = "",
71  bool _center = false);
72 
73 
76  public: void SetScale(const math::Vector3 &_scale);
77 
81  public: void FillMsg(msgs::Geometry &_msg);
82 
85  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
86 
88  protected: const common::Mesh *mesh;
89 
91  protected: common::SubMesh *submesh;
92  };
94  }
95 }
96 #endif
A 3D mesh.
Definition: Mesh.hh:44
virtual void Update()
Update the tri mesh.
Definition: MeshShape.hh:51
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
common::SubMesh * submesh
The submesh to use from within the parent mesh.
Definition: MeshShape.hh:91
A child mesh.
Definition: Mesh.hh:216
Base class for all shapes.
Definition: Shape.hh:46
default namespace for gazebo
const common::Mesh * mesh
Pointer to the mesh data.
Definition: MeshShape.hh:88
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Triangle mesh collision shape.
Definition: MeshShape.hh:41
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113