RayQuery.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_RAYQUERY_HH_
19 #define _GAZEBO_RAYQUERY_HH_
20 
21 #include <vector>
22 
23 #include "gazebo/math/Vector3.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
32  namespace rendering
33  {
34  class RayQueryPrivate;
35 
38 
42  class GZ_RENDERING_VISIBLE RayQuery
43  {
46  public: RayQuery(CameraPtr _camera);
47 
49  public: ~RayQuery();
50 
57  public: bool SelectMeshTriangle(int _x, int _y, VisualPtr _visual,
58  math::Vector3 &_intersect, std::vector<math::Vector3> &_vertices);
59 
63  private: void GetMeshVisuals(rendering::VisualPtr _visual,
64  std::vector<rendering::VisualPtr> &_visuals);
65 
68  private: RayQueryPrivate *dataPtr;
69  };
71  }
72 }
73 #endif
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 Ray Query class used for retrieving mesh data of a visual, adapted from Ogre3D wiki.
Definition: RayQuery.hh:42
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:88