BulletMesh.hh
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17 
18 #ifndef GAZEBO_PHYSICS_BULLET_BULLETMESH_HH_
19 #define GAZEBO_PHYSICS_BULLET_BULLETMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE BulletMesh
36  {
38  public: BulletMesh();
39 
41  public: virtual ~BulletMesh();
42 
47  public: void Init(const common::SubMesh *_subMesh,
48  BulletCollisionPtr _collision,
49  const ignition::math::Vector3d &_scale);
50 
55  public: void Init(const common::Mesh *_mesh,
56  BulletCollisionPtr _collision,
57  const ignition::math::Vector3d &_scale);
58 
66  private: void CreateMesh(float *_vertices, int *_indices,
67  unsigned int _numVertices, unsigned int _numIndices,
68  BulletCollisionPtr _collision,
69  const ignition::math::Vector3d &_scale);
70  };
72  }
73 }
74 #endif
A 3D mesh.
Definition: Mesh.hh:42
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition: BulletTypes.hh:39
A child mesh.
Definition: Mesh.hh:214
Bullet wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Triangle mesh collision helper class.
Definition: BulletMesh.hh:35