76 lines
2.3 KiB
C++
76 lines
2.3 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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#ifndef _GAZEBO_MESHCSG_HH_
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#define _GAZEBO_MESHCSG_HH_
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#include <ignition/math/Pose3.hh>
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#include "gazebo/math/Pose.hh"
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#include "gazebo/util/system.hh"
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struct _GtsSurface;
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typedef _GtsSurface GtsSurface;
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struct _GPtrArray;
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typedef _GPtrArray GPtrArray;
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namespace gazebo
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{
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namespace common
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{
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class Mesh;
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/// \addtogroup gazebo_common Common
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/// \{
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/// \class MeshCSG MeshCSG.hh common/common.hh
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/// \brief Creates CSG meshes
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class GZ_COMMON_VISIBLE MeshCSG
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{
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/// \brief An enumeration of the boolean operations
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public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
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/// \brief Constructor
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public: MeshCSG();
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/// \brief Destructor.
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public: virtual ~MeshCSG();
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/// \brief Create a boolean mesh from two meshes
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/// \param[in] _m1 the parent mesh in the boolean operation
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/// \param[in] _m2 the child mesh in the boolean operation
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/// \param[in] _operation the boolean operation applied to the two meshes
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/// \param[in] _offset _m2's pose offset from _m1
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/// \return a pointer to the created mesh
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public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
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const int _operation,
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const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
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/// \brief Helper method for converting Mesh to GTS Surface
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private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
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/// \brief Helper method for merging neighborhood vertices whose positions
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// are within epsilon
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/// \param[in] _vertices Array of GTS vertices.
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/// \param[in] _epsilon Epsilon
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private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
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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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