DARTMesh.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
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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_DART_DARTMESH_HH_
19 #define GAZEBO_PHYSICS_DART_DARTMESH_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 DARTMeshPrivate;
36 
38  class GZ_PHYSICS_VISIBLE DARTMesh
39  {
41  public: DARTMesh();
42 
44  public: virtual ~DARTMesh();
45 
51  public: void Init(const common::SubMesh *_subMesh,
52  DARTCollisionPtr _collision,
53  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
54 
59  public: void Init(const common::SubMesh *_subMesh,
60  DARTCollisionPtr _collision,
61  const ignition::math::Vector3d &_scale);
62 
68  public: void Init(const common::Mesh *_mesh,
69  DARTCollisionPtr _collision,
70  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
71 
76  public: void Init(const common::Mesh *_mesh,
77  DARTCollisionPtr _collision,
78  const ignition::math::Vector3d &_scale);
79 
86  private: void CreateMesh(float *_vertices, int *_indices,
87  unsigned int _numVertices, unsigned int _numIndices,
88  DARTCollisionPtr _collision,
89  const ignition::math::Vector3d &_scale);
90 
93  private: DARTMeshPrivate *dataPtr;
94  };
96  }
97 }
98 #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
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:48
#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: DARTMesh.hh:38