97 lines
2.9 KiB
C++
97 lines
2.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Trimesh geometry
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* Author: Nate Koenig, Andrew Howard
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* Date: 8 May 2003
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*/
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#ifndef _MESHSHAPE_HH_
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#define _MESHSHAPE_HH_
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#include <string>
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/physics/Shape.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class MeshShape MeshShape.hh physics/physics.hh
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/// \brief Triangle mesh collision shape
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class GZ_PHYSICS_VISIBLE MeshShape : public Shape
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent collision.
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public: explicit MeshShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~MeshShape();
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/// \brief Update the tri mesh.
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public: virtual void Update() {}
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/// \copydoc Shape::Init()
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public: virtual void Init();
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/// \brief Get the size of the triangle mesh.
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/// \return The size of the triangle mesh.
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public: virtual math::Vector3 GetSize() const;
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/// \brief Get the URI of the mesh data.
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/// \return The URI of the mesh data.
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public: std::string GetMeshURI() const;
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/// \brief Set the mesh uri and submesh name.
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/// \param[in] _uri Filename of the mesh file to load from.
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/// \param[in] _submesh Name of the submesh to use within the mesh
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/// \param[in] _center True to center the submesh.
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/// specified in the _uri.
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public: void SetMesh(const std::string &_uri,
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const std::string &_submesh = "",
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bool _center = false);
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/// \brief Set the scaling factor.
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/// \param[in] _scale Scaling factor.
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public: void SetScale(const math::Vector3 &_scale);
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/// \brief Populate a msgs::Geometry message with data from this
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/// shape.
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/// \param[out] _msg Message to fill.
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public: void FillMsg(msgs::Geometry &_msg);
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/// \brief Update this shape from a message.
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/// \param[in] _msg Message that contains triangle mesh info.
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public: virtual void ProcessMsg(const msgs::Geometry &_msg);
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/// \brief Pointer to the mesh data.
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protected: const common::Mesh *mesh;
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/// \brief The submesh to use from within the parent mesh.
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protected: common::SubMesh *submesh;
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};
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/// \}
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}
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}
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#endif
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