Gazebo Rendering

API Reference

3.7.2
gz/rendering/ogre/OgreRayQuery.hh
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2  * Copyright (C) 2017 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_RENDERING_OGRE_OGRERAYQUERY_HH_
18 #define GZ_RENDERING_OGRE_OGRERAYQUERY_HH_
19 
20 #include <memory>
21 
26 
27 namespace ignition
28 {
29  namespace rendering
30  {
31  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
32  //
33  // forward declaration
34  class OgreRayQueryPrivate;
35 
39  class IGNITION_RENDERING_OGRE_VISIBLE OgreRayQuery :
40  public BaseRayQuery<OgreObject>
41  {
43  protected: OgreRayQuery();
44 
46  public: virtual ~OgreRayQuery();
47 
48  // Documentation inherited
49  public: virtual void SetFromCamera(const CameraPtr &_camera,
50  const math::Vector2d &_coord);
51 
52  // Documentation inherited
53  public: virtual RayQueryResult ClosestPoint();
54 
64  // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
65  private: void MeshInformation(const Ogre::Mesh *_mesh,
66  size_t &_vertexCount,
67  Ogre::Vector3* &_vertices,
68  size_t &_indexCount,
69  uint64_t* &_indices,
70  const math::Vector3d &_position,
71  const math::Quaterniond &_orient,
72  const math::Vector3d &_scale);
73 
75  private: std::unique_ptr<OgreRayQueryPrivate> dataPtr;
76 
78  private: friend class OgreScene;
79  };
80  }
81  }
82 }
83 #endif
A Ray Query class used for computing ray object intersections.
Definition: gz/rendering/base/BaseRayQuery.hh:36
STL class.
Definition: gz/rendering/ogre/OgreScene.hh:39
A class that stores ray query intersection results.
Definition: gz/rendering/RayQuery.hh:35
A Ray Query class used for computing ray object intersections.
Definition: gz/rendering/ogre/OgreRayQuery.hh:39