ODEMesh.hh
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1 /*
2  * Copyright (C) 2014-2016 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_ODEMESH_HH_
19 #define _GAZEBO_ODEMESH_HH_
20 
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
32 
34  class GZ_PHYSICS_VISIBLE ODEMesh
35  {
37  public: explicit ODEMesh();
38 
40  public: virtual ~ODEMesh();
41 
46  public: void Init(const common::SubMesh *_subMesh,
47  ODECollisionPtr _collision,
48  const math::Vector3 &_scale);
49 
54  public: void Init(const common::Mesh *_mesh, ODECollisionPtr _collision,
55  const math::Vector3 &_scale);
56 
58  public: virtual void Update();
59 
64  private: void CreateMesh(unsigned int _numVertices,
65  unsigned int _numIndices, ODECollisionPtr _collision,
66  const math::Vector3 &_scale);
67 
69  private: dReal transform[16*2];
70 
72  private: int transformIndex;
73 
75  private: float *vertices;
76 
78  private: int *indices;
79 
81  private: dTriMeshDataID odeData;
82 
84  private: dGeomID collisionId;
85  };
87  }
88 }
89 #endif
A 3D mesh.
Definition: Mesh.hh:44
Triangle mesh helper class.
Definition: ODEMesh.hh:34
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
boost::shared_ptr< ODECollision > ODECollisionPtr
Definition: ODETypes.hh:39
ODE wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.