SimbodyMesh.hh
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1 /*
2  * Copyright (C) 2014 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.
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17 
18 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
19 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
23 #include "gazebo/math/Vector3.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
34 
36  class GZ_PHYSICS_VISIBLE SimbodyMesh
37  {
39  public: SimbodyMesh();
40 
42  public: virtual ~SimbodyMesh();
43 
49  public: void Init(const common::SubMesh *_subMesh,
50  SimbodyCollisionPtr _collision,
51  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
52 
57  public: void Init(const common::SubMesh *_subMesh,
58  SimbodyCollisionPtr _collision,
59  const ignition::math::Vector3d &_scale);
60 
66  public: void Init(const common::Mesh *_mesh,
67  SimbodyCollisionPtr _collision,
68  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
69 
74  public: void Init(const common::Mesh *_mesh,
75  SimbodyCollisionPtr _collision,
76  const ignition::math::Vector3d &_scale);
77 
84  private: void CreateMesh(float *_vertices, int *_indices,
85  unsigned int _numVertices, unsigned int _numIndices,
86  SimbodyCollisionPtr _collision,
87  const ignition::math::Vector3d &_scale);
88  };
90  }
91 }
92 #endif
A 3D mesh.
Definition: Mesh.hh:42
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
A child mesh.
Definition: Mesh.hh:214
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Triangle mesh collision helper class.
Definition: SimbodyMesh.hh:36
Simbody wrapper forward declarations and typedefs.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.