BulletMesh.hh
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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_BULLET_BULLETMESH_HH_
19 #define GAZEBO_PHYSICS_BULLET_BULLETMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
33 
35  class GZ_PHYSICS_VISIBLE BulletMesh
36  {
38  public: BulletMesh();
39 
41  public: virtual ~BulletMesh();
42 
48  public: void Init(const common::SubMesh *_subMesh,
49  BulletCollisionPtr _collision,
50  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
51 
56  public: void Init(const common::SubMesh *_subMesh,
57  BulletCollisionPtr _collision,
58  const ignition::math::Vector3d &_scale);
59 
65  public: void Init(const common::Mesh *_mesh,
66  BulletCollisionPtr _collision,
67  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
68 
73  public: void Init(const common::Mesh *_mesh,
74  BulletCollisionPtr _collision,
75  const ignition::math::Vector3d &_scale);
76 
84  private: void CreateMesh(float *_vertices, int *_indices,
85  unsigned int _numVertices, unsigned int _numIndices,
86  BulletCollisionPtr _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
boost::shared_ptr< BulletCollision > BulletCollisionPtr
Definition: BulletTypes.hh:42
A child mesh.
Definition: Mesh.hh:214
Bullet 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.
Triangle mesh collision helper class.
Definition: BulletMesh.hh:35