66 lines
1.8 KiB
C++
66 lines
1.8 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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#include "gazebo/common/Mesh.hh"
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#include "gazebo/physics/simbody/SimbodyTypes.hh"
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#include "gazebo/physics/simbody/SimbodyMesh.hh"
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#include "gazebo/physics/simbody/SimbodyCollision.hh"
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#include "gazebo/physics/simbody/SimbodyPhysics.hh"
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#include "gazebo/physics/simbody/SimbodyMeshShape.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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SimbodyMeshShape::SimbodyMeshShape(CollisionPtr _parent)
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: MeshShape(_parent)
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{
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this->simbodyMesh = new SimbodyMesh();
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}
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//////////////////////////////////////////////////
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SimbodyMeshShape::~SimbodyMeshShape()
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{
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delete this->simbodyMesh;
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}
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//////////////////////////////////////////////////
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void SimbodyMeshShape::Load(sdf::ElementPtr _sdf)
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{
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MeshShape::Load(_sdf);
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}
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//////////////////////////////////////////////////
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void SimbodyMeshShape::Init()
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{
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MeshShape::Init();
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if (this->submesh)
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{
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this->simbodyMesh->Init(this->submesh,
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boost::static_pointer_cast<SimbodyCollision>(this->collisionParent),
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this->sdf->Get<math::Vector3>("scale"));
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}
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else
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{
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this->simbodyMesh->Init(this->mesh,
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boost::static_pointer_cast<SimbodyCollision>(this->collisionParent),
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this->sdf->Get<math::Vector3>("scale"));
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}
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}
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