Mesh.hpp

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#ifndef DART_MATH_MESH_HPP_
#define DART_MATH_MESH_HPP_
 
#include <vector>
 
#include <Eigen/Core>
 
namespace dart {
namespace math {
 
template <typename S_>
class Mesh
{
public:
  // Type aliases
  using S = S_;
  using Index = std::size_t;
  using Vector3 = Eigen::Matrix<S, 3, 1>;
  using Vertices = std::vector<Vector3>;
  using Normals = std::vector<Vector3>;
  using Indices = std::vector<Index>;
 
  virtual ~Mesh();
 
  bool hasVertices() const;
 
  bool hasVertexNormals() const;
 
  const Vertices& getVertices() const;
 
  const Normals& getVertexNormals() const;
 
  virtual void clear();
 
  bool isEmpty() const;
 
  void translate(const Vector3& translation);
 
  Mesh operator+(const Mesh& other) const;
 
  Mesh& operator+=(const Mesh& other);
 
protected:
  Mesh();
 
  void normalizeVertexNormals();
 
  Vertices mVertices;
 
  Normals mVertexNormals;
};
 
using Meshf = Mesh<float>;
using Meshd = Mesh<double>;
 
} // namespace math
} // namespace dart
 
#include "dart/math/detail/Mesh-impl.hpp"
 
#endif // DART_MATH_MESH_HPP_