OdeMesh.hpp

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#ifndef DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
#define DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
 
#include <ode/ode.h>
#include <assimp/scene.h>
 
#include "dart/collision/ode/detail/OdeGeom.hpp"
 
namespace dart {
namespace collision {
namespace detail {
 
class OdeMesh : public OdeGeom
{
public:
  OdeMesh(
    const OdeCollisionObject* parent,
    const aiScene* scene,
    const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
 
  virtual ~OdeMesh();
 
  // Documentation inherited
  void updateEngineData() override;
 
private:
  void fillArrays(
      const aiScene* scene,
      const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
 
private:
  std::vector<double> mVertices;
 
  std::vector<double> mNormals;
 
  std::vector<int> mIndices;
 
  dTriMeshDataID mOdeTriMeshDataId;
};
 
} // namespace detail
} // namespace collision
} // namespace dart
 
#endif  // DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_