ODETrimeshShape.hh

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/*
 * Copyright 2011 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Trimesh geometry
 * Author: Nate Koenig
 * Date: 16 Oct 2009
 */

#ifndef _ODETRIMESHSHAPE_HH_
#define _ODETRIMESHSHAPE_HH_

#include "physics/TrimeshShape.hh"

namespace gazebo
{
  namespace physics
  {

    class ODETrimeshShape : public TrimeshShape
    {
      public: ODETrimeshShape(CollisionPtr _parent);

      public: virtual ~ODETrimeshShape();

      public: void Update();

      protected: virtual void Load(sdf::ElementPtr _sdf);

      protected: virtual void Init();

      private: dReal matrix_dblbuff[16*2];
      private: int last_matrix_index;
      private: float *vertices;
      private: int *indices;
      private: dTriMeshDataID odeData;
    };
  }
}
#endif