Gazebo Common
API Reference
5.6.0
insert_drive_file
Tutorials
library_books
Classes
toc
Namespaces
insert_drive_file
Files
launch
Gazebo Website
Index
List
Hierarchy
Members: All
Members: Functions
Members: Variables
Members: Typedefs
Members: Enumerations
Members: Enumerator
List
Members
Functions
Typedefs
Variables
Enumerations
Enumerator
src
gz-common
graphics
include
gz
common
gz/common/MeshCSG.hh
Go to the documentation of this file.
1
/*
2
* Copyright (C) 2016 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.
6
* You may obtain a copy of the License at
7
*
8
* http://www.apache.org/licenses/LICENSE-2.0
9
*
10
* Unless required by applicable law or agreed to in writing, software
11
* distributed under the License is distributed on an "AS IS" BASIS,
12
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13
* See the License for the specific language governing permissions and
14
* limitations under the License.
15
*
16
*/
17
#ifndef GZ_COMMON_MESHCSG_HH_
18
#define GZ_COMMON_MESHCSG_HH_
19
20
#include <gz/math/Pose3.hh>
21
22
#include <gz/common/graphics/Export.hh>
23
24
struct
_GtsSurface;
25
typedef
_GtsSurface
GtsSurface
;
26
struct
_GPtrArray;
27
typedef
_GPtrArray
GPtrArray
;
28
29
namespace
gz
30
{
31
namespace
common
32
{
33
class
Mesh;
34
37
class
GZ_COMMON_GRAPHICS_VISIBLE
MeshCSG
38
{
40
public
:
enum
BooleanOperation
{UNION, INTERSECTION, DIFFERENCE};
41
43
public
:
MeshCSG
();
44
46
public
:
virtual
~MeshCSG
();
47
54
public
:
Mesh
*
CreateBoolean
(
const
Mesh
*_m1,
const
Mesh
*_m2,
55
const
int
_operation,
56
const
gz::math::Pose3d
&_offset =
gz::math::Pose3d::Zero
);
57
59
private
:
void
ConvertMeshToGTS(
const
Mesh
*mesh,
GtsSurface
*surface);
60
62
// are within epsilon
65
private
:
void
MergeVertices(
GPtrArray
* _vertices,
double
_epsilon);
66
};
67
}
68
}
69
70
#endif