ODEMesh.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GAZEBO_PHYSICS_ODE_ODEMESH_HH_
19 #define GAZEBO_PHYSICS_ODE_ODEMESH_HH_
20 
21 #include <ignition/math/Vector3.hh>
22 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class GZ_PHYSICS_VISIBLE ODEMesh
37  {
39  public: explicit ODEMesh();
40 
42  public: virtual ~ODEMesh();
43 
49  public: void Init(const common::SubMesh *_subMesh,
50  ODECollisionPtr _collision,
51  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
52 
57  public: void Init(const common::SubMesh *_subMesh,
58  ODECollisionPtr _collision,
59  const ignition::math::Vector3d &_scale);
60 
66  public: void Init(const common::Mesh *_mesh,
67  ODECollisionPtr _collision,
68  const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0);
69 
74  public: void Init(const common::Mesh *_mesh,
75  ODECollisionPtr _collision,
76  const ignition::math::Vector3d &_scale);
77 
79  public: virtual void Update();
80 
85  private: void CreateMesh(unsigned int _numVertices,
86  unsigned int _numIndices, ODECollisionPtr _collision,
87  const ignition::math::Vector3d &_scale);
88 
90  private: dReal transform[16*2];
91 
93  private: int transformIndex;
94 
96  private: float *vertices;
97 
99  private: int *indices;
100 
102  private: dTriMeshDataID odeData;
103 
105  private: dGeomID collisionId;
106  };
108  }
109 }
110 #endif
A 3D mesh.
Definition: Mesh.hh:42
Triangle mesh helper class.
Definition: ODEMesh.hh:36
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< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
ODE wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.