Gazebo

TrimeshGeom.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Trimesh geometry
00022  * Author: Nate Keonig, Andrew Howard
00023  * Date: 8 May 2003
00024  * CVS: $Id: TrimeshGeom.hh 152 2007-11-01 23:45:07Z natepak $
00025  */
00026 
00027 #ifndef TRIMESHGEOM_HH
00028 #define TRIMESHGEOM_HH
00029 
00030 #include "Geom.hh"
00031 
00032 namespace gazebo
00033 {
00036 
00058 
00059 
00060 
00061 
00062 
00064   class TrimeshGeom : public Geom
00065   {
00067     public: TrimeshGeom(Body *body);
00068 
00070     public: virtual ~TrimeshGeom();
00071 
00073     public: void UpdateChild();
00074 
00076     protected: virtual void LoadChild(XMLConfigNode *node);
00077 
00078     private: dTriMeshDataID odeData;
00079 
00080     private: dReal matrix_dblbuff[16*2];
00081     private: int last_matrix_index;
00082   };
00083 
00085 }
00086 
00087 #endif

Last updated Aug 04 2007