MeshCSG.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef _GAZEBO_MESHCSG_HH_
18 #define _GAZEBO_MESHCSG_HH_
19 
20 #include <ignition/math/Pose3.hh>
21 
22 #include "gazebo/math/Pose.hh"
23 #include "gazebo/util/system.hh"
24 
25 struct _GtsSurface;
26 typedef _GtsSurface GtsSurface;
27 struct _GPtrArray;
28 typedef _GPtrArray GPtrArray;
29 
30 namespace gazebo
31 {
32  namespace common
33  {
34  class Mesh;
35 
38 
42  {
44  public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
45 
47  public: MeshCSG();
48 
50  public: virtual ~MeshCSG();
51 
60  public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
61  const int _operation, const math::Pose &_offset = math::Pose::Zero)
62  GAZEBO_DEPRECATED(6.0);
63 
70  public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
71  const int _operation,
72  const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
73 
75  private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
76 
78  // are within epsilon
81  private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
82  };
84  }
85 }
86 
87 #endif
A 3D mesh.
Definition: Mesh.hh:44
_GtsSurface GtsSurface
Definition: GTSMeshUtils.hh:29
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
BooleanOperation
An enumeration of the boolean operations.
Definition: MeshCSG.hh:44
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:47
#define GZ_COMMON_VISIBLE
Definition: system.hh:91
Creates CSG meshes.
Definition: MeshCSG.hh:41
Definition: MeshCSG.hh:44
_GPtrArray GPtrArray
Definition: MeshCSG.hh:27
static const Pose Zero
math::Pose(0, 0, 0, 0, 0, 0)
Definition: Pose.hh:40
_GtsSurface GtsSurface
Definition: MeshCSG.hh:25