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PrismGeom.hh
Go to the documentation of this file.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: Prism geometry 00022 * Author: Sylvain Joyeux 00023 * Date: 3 May 2005 00024 * CVS: $Id: PrismGeom.hh,v 1.1 2005/05/04 00:52:16 natepak Exp $ 00025 */ 00026 00027 #ifndef PRISMGEOM_HH 00028 #define PRISMGEOM_HH 00029 00030 #include "Geom.hh" 00031 00032 class PrismGeom : public Geom 00033 { 00034 // Constuctor 00035 public: PrismGeom( Body* body, dSpaceID spaceId, int concave, double extractVector[3], 00036 int nbVertices, double *baseVertices ); 00037 00038 // Destructor 00039 public: virtual ~PrismGeom(); 00040 00041 // Render the geom (GL) 00042 public: virtual void Render(RenderOptions *opt); 00043 00044 // Geometry 00045 private: int concave; 00046 private: double extractVector[3]; 00047 private: int nbVertices; 00048 private: double **vertices0; 00049 private: double **vertices1; 00050 private: double norm0[3]; 00051 private: double norm1[3]; 00052 private: double **norm; 00053 public: double origin[3]; 00054 00055 }; 00056 00057 #endif
