SimbodyMesh.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");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef _GAZEBO_SIMBODYMESH_HH_
19 #define _GAZEBO_SIMBODYMESH_HH_
20 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodyMesh
34  {
36  public: SimbodyMesh();
37 
39  public: virtual ~SimbodyMesh();
40 
45  public: void Init(const common::SubMesh *_subMesh,
46  SimbodyCollisionPtr _collision,
47  const math::Vector3 &_scale);
48 
53  public: void Init(const common::Mesh *_mesh,
54  SimbodyCollisionPtr _collision,
55  const math::Vector3 &_scale);
56 
63  private: void CreateMesh(float *_vertices, int *_indices,
64  unsigned int _numVertices, unsigned int _numIndices,
65  SimbodyCollisionPtr _collision,
66  const math::Vector3 &_scale);
67  };
69  }
70 }
71 #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
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
Triangle mesh collision helper class.
Definition: SimbodyMesh.hh:33
Simbody wrapper forward declarations and typedefs.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.