72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*
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* Copyright (C) 2014 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_SIMBODYMESH_HH_
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#define _GAZEBO_SIMBODYMESH_HH_
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#include "gazebo/physics/simbody/SimbodyTypes.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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/// \ingroup gazebo_physics
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/// \addtogroup gazebo_physics_simbody Simbody Physics
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/// \{
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/// \brief Triangle mesh collision helper class
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class GZ_PHYSICS_VISIBLE SimbodyMesh
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{
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/// \brief Constructor
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public: SimbodyMesh();
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/// \brief Destructor
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public: virtual ~SimbodyMesh();
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/// \brief Create a mesh collision shape using a submesh.
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/// \param[in] _subMesh Pointer to the submesh.
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/// \param[in] _collision Pointer to the collsion object.
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/// \param[in] _scale Scaling factor.
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public: void Init(const common::SubMesh *_subMesh,
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SimbodyCollisionPtr _collision,
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const math::Vector3 &_scale);
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/// \brief Create a mesh collision shape using a mesh.
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/// \param[in] _mesh Pointer to the mesh.
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/// \param[in] _collision Pointer to the collsion object.
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/// \param[in] _scale Scaling factor.
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public: void Init(const common::Mesh *_mesh,
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SimbodyCollisionPtr _collision,
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const math::Vector3 &_scale);
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/// \brief Helper function to create the collision shape.
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/// \param[in] _vertices Array of vertices.
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/// \param[in] _indices Array of indices.
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/// \param[in] _numVertices Number of vertices.
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/// \param[in] _numIndices Number of indices.
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/// \param[in] _collision Pointer to the collsion object.
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private: void CreateMesh(float *_vertices, int *_indices,
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unsigned int _numVertices, unsigned int _numIndices,
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SimbodyCollisionPtr _collision,
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const math::Vector3 &_scale);
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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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