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BulletTrimeshShape.hh
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1 /*
2  * Copyright 2011 Nate Koenig
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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Trimesh collisionetry
18  * Author: Nate Koenig
19  * Date: 21 May 2009
20  */
21 
22 #ifndef _BULLETTRIMESHSHAPE_HH_
23 #define _BULLETTRIMESHSHAPE_HH_
24 
25 #include "physics/TrimeshShape.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
37  {
39  public: BulletTrimeshShape(CollisionPtr _parent);
40 
42  public: virtual ~BulletTrimeshShape();
43 
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  protected: virtual void Init();
48  };
49 
51  }
52 }
53 #endif
54