MeshCSG.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef _GAZEBO_MESHCSG_HH_
18 #define _GAZEBO_MESHCSG_HH_
19 
20 #include <ignition/math/Pose3.hh>
21 
22 #include "gazebo/util/system.hh"
23 
24 struct _GtsSurface;
25 typedef _GtsSurface GtsSurface;
26 struct _GPtrArray;
27 typedef _GPtrArray GPtrArray;
28 
29 #ifdef DIFFERENCE
30 #undef DIFFERENCE
31 #endif
32 
33 namespace gazebo
34 {
35  namespace common
36  {
37  class Mesh;
38 
41 
44  class GZ_COMMON_VISIBLE MeshCSG
45  {
47  public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
48 
50  public: MeshCSG();
51 
53  public: virtual ~MeshCSG();
54 
61  public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
62  const int _operation,
63  const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
64 
66  private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
67 
69  // are within epsilon
72  private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
73  };
75  }
76 }
77 
78 #endif
common
Definition: FuelModelDatabase.hh:42
_GtsSurface GtsSurface
Definition: GTSMeshUtils.hh:27
_GtsSurface GtsSurface
Definition: MeshCSG.hh:24
_GPtrArray GPtrArray
Definition: MeshCSG.hh:26
Creates CSG meshes.
Definition: MeshCSG.hh:45
Mesh * CreateBoolean(const Mesh *_m1, const Mesh *_m2, const int _operation, const ignition::math::Pose3d &_offset=ignition::math::Pose3d::Zero)
Create a boolean mesh from two meshes.
BooleanOperation
An enumeration of the boolean operations.
Definition: MeshCSG.hh:47
virtual ~MeshCSG()
Destructor.
A 3D mesh.
Definition: Mesh.hh:43
Forward declarations for the common classes.
Definition: Animation.hh:27