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physics
simbody
SimbodyMesh.hh
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
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#define GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
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#include <ignition/math/Vector3.hh>
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#include "
gazebo/physics/simbody/SimbodyTypes.hh
"
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#include "
gazebo/util/system.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
SimbodyMesh
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{
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public
:
SimbodyMesh
();
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public
:
virtual
~
SimbodyMesh
();
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public
:
void
Init
(
const
common::SubMesh
*_subMesh,
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SimbodyCollisionPtr
_collision,
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const
ignition::math::Vector3d &_scale);
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public
:
void
Init
(
const
common::Mesh
*_mesh,
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SimbodyCollisionPtr
_collision,
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const
ignition::math::Vector3d &_scale);
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private
:
void
CreateMesh(
float
*_vertices,
int
*_indices,
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unsigned
int
_numVertices,
unsigned
int
_numIndices,
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SimbodyCollisionPtr
_collision,
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const
ignition::math::Vector3d &_scale);
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};
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}
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}
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#endif
gazebo::common::Mesh
A 3D mesh.
Definition:
Mesh.hh:42
system.hh
gazebo::common::SubMesh
A child mesh.
Definition:
Mesh.hh:214
gazebo::physics::SimbodyCollisionPtr
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition:
SimbodyTypes.hh:44
gazebo::physics::SimbodyMesh
Triangle mesh collision helper class.
Definition:
SimbodyMesh.hh:35
SimbodyTypes.hh
Simbody wrapper forward declarations and typedefs.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.