MeshCSG.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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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/util/system.hh"
23 
24 struct _GtsSurface;
25 typedef _GtsSurface GtsSurface;
26 struct _GPtrArray;
27 typedef _GPtrArray GPtrArray;
28 
29 namespace gazebo
30 {
31  namespace common
32  {
33  class Mesh;
34 
37 
40  class GZ_COMMON_VISIBLE MeshCSG
41  {
43  public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
44 
46  public: MeshCSG();
47 
49  public: virtual ~MeshCSG();
50 
57  public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
58  const int _operation,
59  const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
60 
62  private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
63 
65  // are within epsilon
68  private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
69  };
71  }
72 }
73 
74 #endif
A 3D mesh.
Definition: Mesh.hh:42
_GtsSurface GtsSurface
Definition: GTSMeshUtils.hh:27
BooleanOperation
An enumeration of the boolean operations.
Definition: MeshCSG.hh:43
Forward declarations for the common classes.
Definition: Animation.hh:33
Definition: MeshCSG.hh:43
Creates CSG meshes.
Definition: MeshCSG.hh:40
_GPtrArray GPtrArray
Definition: MeshCSG.hh:26
_GtsSurface GtsSurface
Definition: MeshCSG.hh:24