MeshCSG.hh

Go to the documentation of this file.

/*
 * 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.
 *
*/
#ifndef _GAZEBO_MESHCSG_HH_
#define _GAZEBO_MESHCSG_HH_
 
#include <ignition/math/Pose3.hh>
 
#include "gazebo/util/system.hh"
 
struct _GtsSurface;
typedef _GtsSurface GtsSurface;
struct _GPtrArray;
typedef _GPtrArray GPtrArray;
 
#ifdef DIFFERENCE
#undef DIFFERENCE
#endif
 
namespace gazebo
{
  namespace common
  {
    class Mesh;
 
 
    class GZ_COMMON_VISIBLE MeshCSG
    {
      public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
 
      public: MeshCSG();
 
      public: virtual ~MeshCSG();
 
      public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
          const int _operation,
          const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
 
      private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
 
      // are within epsilon
      private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
    };
  }
}
 
#endif