Gazebo Common

API Reference

5.7.0
gz/common/MeshCSG.hh
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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