SoftMeshShape.hpp

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#ifndef DART_DYNAMICS_SOFTMESHSHAPE_HPP_
#define DART_DYNAMICS_SOFTMESHSHAPE_HPP_
 
#include <Eigen/Dense>
#include <assimp/scene.h>
 
#include "dart/dynamics/Shape.hpp"
 
namespace dart {
namespace dynamics {
 
class SoftBodyNode;
 
// TODO(JS): Implement
class SoftMeshShape : public Shape
{
public:
  friend class SoftBodyNode;
 
  explicit SoftMeshShape(SoftBodyNode* _softBodyNode);
 
  virtual ~SoftMeshShape();
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  const aiMesh* getAssimpMesh() const;
 
  const SoftBodyNode* getSoftBodyNode() const;
 
  void update();
 
  // Documentation inherited.
  Eigen::Matrix3d computeInertia(double mass) const override;
 
  // Documentation inherited.
  ShapePtr clone() const override;
 
protected:
  // Documentation inherited.
  void updateBoundingBox() const override;
 
  // Documentation inherited.
  void updateVolume() const override;
 
private:
  void _buildMesh();
 
  SoftBodyNode* mSoftBodyNode;
 
  std::unique_ptr<aiMesh> mAssimpMesh;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_SOFTMESHSHAPE_HPP_