DARTMesh.hh

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/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * 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.
 *
*/

#ifndef GAZEBO_PHYSICS_DART_DARTMESH_HH_
#define GAZEBO_PHYSICS_DART_DARTMESH_HH_

#include <ignition/math/Vector3.hh>

#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class DARTMeshPrivate;

    class GZ_PHYSICS_VISIBLE DARTMesh
    {
      public: DARTMesh();

      public: virtual ~DARTMesh();

      public: void Init(const common::SubMesh *_subMesh,
                      DARTCollisionPtr _collision,
                      const ignition::math::Vector3d &_scale);

      public: void Init(const common::Mesh *_mesh,
                      DARTCollisionPtr _collision,
                      const ignition::math::Vector3d &_scale);

      public: dart::dynamics::ShapeNodePtr ShapeNode() const;

      private: void CreateMesh(float *_vertices, int *_indices,
                   unsigned int _numVertices, unsigned int _numIndices,
                   DARTCollisionPtr _collision,
                   const ignition::math::Vector3d &_scale);

      private: DARTMeshPrivate *dataPtr;
    };
  }
}
#endif