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TrimeshShape.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 geometry
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef TRIMESHSHAPE_HH
23 #define TRIMESHSHAPE_HH
24 
25 #include <string>
26 
27 #include "common/CommonTypes.hh"
28 #include "physics/PhysicsTypes.hh"
29 
30 #include "physics/Shape.hh"
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
38 
40  class TrimeshShape : public Shape
41  {
44 
46  public: virtual ~TrimeshShape();
47 
48  public: virtual void Update() {}
49 
51  public: virtual void Init();
52 
53  public: virtual math::Vector3 GetSize() const;
54 
56  public: std::string GetFilename() const;
57 
58  public: void SetFilename(const std::string &_filename);
59 
60  public: void SetScale(const math::Vector3 &_scale);
61 
62  public: void FillMsg(msgs::Geometry &_msg);
63 
64  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
65 
66  public: virtual double GetMass(double _density) const;
67 
68  protected: const common::Mesh *mesh;
69  };
71  }
72 }
73 #endif
74 
75