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