PrismGeom.hh

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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
Last updated 12 September 2005 21:38:45