Mesh.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_MESH_HPP_
#define DART_UTILS_MJCF_DETAIL_MESH_HPP_
 
#include <tinyxml2.h>
 
#include "dart/dynamics/MeshShape.hpp"
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/MeshAttributes.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Mesh final
{
public:
  Mesh() = default;
 
 
  const std::string& getName() const;
  const std::string& getFile() const;
  const Eigen::Vector3d& getScale() const;
 
  dynamics::MeshShapePtr getMeshShape() const;
 
 
private:
  // Private members used by Asset class
  friend class Asset;
  friend class Default;
  Errors read(tinyxml2::XMLElement* element);
 
  Errors preprocess(const Compiler& compiler);
 
  Errors compile(const Compiler& compiler);
 
  Errors postprocess(const Compiler& compiler);
 
  dynamics::MeshShapePtr createMeshShape() const;
 
private:
  MeshAttributes mAttributes;
 
  std::string mName{""};
 
  std::string mFile{""};
 
  Eigen::Vector3d mScale{Eigen::Vector3d::Ones()};
 
  common::Uri mMeshUri;
  common::ResourceRetrieverPtr mRetriever;
  mutable bool mTriedToParse{false};
  mutable dynamics::MeshShapePtr mMeshShape{nullptr};
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_MESH_HPP_