Gazebo Common
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5.7.0
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src
gz-common
graphics
include
gz
common
gz/common/MeshCSG.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_COMMON_MESHCSG_HH_
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#define GZ_COMMON_MESHCSG_HH_
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#include <gz/math/Pose3.hh>
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#include <gz/common/graphics/Export.hh>
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struct
_GtsSurface;
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typedef
_GtsSurface
GtsSurface
;
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struct
_GPtrArray;
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typedef
_GPtrArray
GPtrArray
;
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namespace
gz
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{
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namespace
common
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{
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class
Mesh;
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class
GZ_COMMON_GRAPHICS_VISIBLE
MeshCSG
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{
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public
:
enum
BooleanOperation
{UNION, INTERSECTION, DIFFERENCE};
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public
:
MeshCSG
();
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public
:
virtual
~MeshCSG
();
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public
:
Mesh
*
CreateBoolean
(
const
Mesh
*_m1,
const
Mesh
*_m2,
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const
int
_operation,
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const
gz::math::Pose3d
&_offset =
gz::math::Pose3d::Zero
);
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private
:
void
ConvertMeshToGTS(
const
Mesh
*mesh,
GtsSurface
*surface);
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// are within epsilon
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private
:
void
MergeVertices(
GPtrArray
* _vertices,
double
_epsilon);
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};
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}
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}
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#endif