RayQuery.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_RAYQUERY_HH_
#define _GAZEBO_RAYQUERY_HH_

#include <vector>

#include "gazebo/math/Vector3.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/rendering/ogre_gazebo.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    class RayQueryPrivate;


    class GZ_RENDERING_VISIBLE RayQuery
    {
      public: RayQuery(CameraPtr _camera);

      public: ~RayQuery();

      public: bool SelectMeshTriangle(int _x, int _y, VisualPtr _visual,
          math::Vector3 &_intersect, std::vector<math::Vector3> &_vertices);

      private: void GetMeshVisuals(rendering::VisualPtr _visual,
          std::vector<rendering::VisualPtr> &_visuals);

      private: RayQueryPrivate *dataPtr;
    };
  }
}
#endif