SimbodyMesh.hh
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1 /*
2  * Copyright (C) 2014 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.
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17 
18 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
19 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_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 SimbodyMesh
36  {
38  public: SimbodyMesh();
39 
41  public: virtual ~SimbodyMesh();
42 
47  public: void Init(const common::SubMesh *_subMesh,
48  SimbodyCollisionPtr _collision,
49  const ignition::math::Vector3d &_scale);
50 
55  public: void Init(const common::Mesh *_mesh,
56  SimbodyCollisionPtr _collision,
57  const ignition::math::Vector3d &_scale);
58 
65  private: void CreateMesh(float *_vertices, int *_indices,
66  unsigned int _numVertices, unsigned int _numIndices,
67  SimbodyCollisionPtr _collision,
68  const ignition::math::Vector3d &_scale);
69  };
71  }
72 }
73 #endif
A 3D mesh.
Definition: Mesh.hh:42
A child mesh.
Definition: Mesh.hh:214
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Triangle mesh collision helper class.
Definition: SimbodyMesh.hh:35
Simbody wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.