MeshShape.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_PHYSICS_MESHSHAPE_HH_
18 #define GAZEBO_PHYSICS_MESHSHAPE_HH_
19 
20 #include <string>
21 
24 #include "gazebo/physics/Shape.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
36  class GZ_PHYSICS_VISIBLE MeshShape : public Shape
37  {
40  public: explicit MeshShape(CollisionPtr _parent);
41 
43  public: virtual ~MeshShape();
44 
46  public: virtual void Update() {}
47 
49  public: virtual void Init();
50 
54  public: virtual math::Vector3 GetSize() const GAZEBO_DEPRECATED(8.0);
55 
58  public: virtual ignition::math::Vector3d Size() const;
59 
62  public: std::string GetMeshURI() const;
63 
69  public: void SetMesh(const std::string &_uri,
70  const std::string &_submesh = "",
71  bool _center = false);
72 
75  public: void SetScale(const ignition::math::Vector3d &_scale);
76 
80  public: void FillMsg(msgs::Geometry &_msg);
81 
84  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
85 
87  protected: const common::Mesh *mesh;
88 
90  protected: common::SubMesh *submesh;
91  };
93  }
94 }
95 #endif
A 3D mesh.
Definition: Mesh.hh:42
virtual void Update()
Update the tri mesh.
Definition: MeshShape.hh:46
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
common::SubMesh * submesh
The submesh to use from within the parent mesh.
Definition: MeshShape.hh:90
A child mesh.
Definition: Mesh.hh:214
Base class for all shapes.
Definition: Shape.hh:45
default namespace for gazebo
const common::Mesh * mesh
Pointer to the mesh data.
Definition: MeshShape.hh:87
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Triangle mesh collision shape.
Definition: MeshShape.hh:36
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113