DARTMesh.hh
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1 /*
2  * Copyright (C) 2014-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTMESH_HH_
19 #define _GAZEBO_DARTMESH_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class DARTMeshPrivate;
34 
36  class GZ_PHYSICS_VISIBLE DARTMesh
37  {
39  public: DARTMesh();
40 
42  public: virtual ~DARTMesh();
43 
48  public: void Init(const common::SubMesh *_subMesh,
49  DARTCollisionPtr _collision,
50  const math::Vector3 &_scale);
51 
56  public: void Init(const common::Mesh *_mesh,
57  DARTCollisionPtr _collision,
58  const math::Vector3 &_scale);
59 
66  private: void CreateMesh(float *_vertices, int *_indices,
67  unsigned int _numVertices, unsigned int _numIndices,
68  DARTCollisionPtr _collision,
69  const math::Vector3 &_scale);
70 
73  private: DARTMeshPrivate *dataPtr;
74  };
76  }
77 }
78 #endif
A 3D mesh.
Definition: Mesh.hh:44
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
A child mesh.
Definition: Mesh.hh:216
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:47
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Triangle mesh collision helper class.
Definition: DARTMesh.hh:36