ODEMesh.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GAZEBO_PHYSICS_ODE_ODEMESH_HH_
19 #define GAZEBO_PHYSICS_ODE_ODEMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class GZ_PHYSICS_VISIBLE ODEMesh
37  {
39  public: explicit ODEMesh();
40 
42  public: virtual ~ODEMesh();
43 
48  public: void Init(const common::SubMesh *_subMesh,
49  ODECollisionPtr _collision,
50  const ignition::math::Vector3d &_scale);
51 
56  public: void Init(const common::Mesh *_mesh,
57  ODECollisionPtr _collision,
58  const ignition::math::Vector3d &_scale);
59 
61  public: virtual void Update();
62 
67  private: void CreateMesh(unsigned int _numVertices,
68  unsigned int _numIndices, ODECollisionPtr _collision,
69  const ignition::math::Vector3d &_scale);
70 
72  private: dReal transform[16*2];
73 
75  private: int transformIndex;
76 
78  private: float *vertices;
79 
81  private: int *indices;
82 
84  private: dTriMeshDataID odeData;
85 
87  private: dGeomID collisionId;
88  };
90  }
91 }
92 #endif
A 3D mesh.
Definition: Mesh.hh:42
Triangle mesh helper class.
Definition: ODEMesh.hh:36
A child mesh.
Definition: Mesh.hh:214
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
ODE wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.