DART  6.7.3
OdeMesh.hpp
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32 
33 #ifndef DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
34 #define DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
35 
36 #include <ode/ode.h>
37 #include <assimp/scene.h>
38 
40 
41 namespace dart {
42 namespace collision {
43 namespace detail {
44 
45 class OdeMesh : public OdeGeom
46 {
47 public:
49  OdeMesh(
50  const OdeCollisionObject* parent,
51  const aiScene* scene,
52  const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
53 
55  virtual ~OdeMesh();
56 
57  // Documentation inherited
58  void updateEngineData() override;
59 
60 private:
61  void fillArrays(
62  const aiScene* scene,
63  const Eigen::Vector3d& scale = Eigen::Vector3d::Ones());
64 
65 private:
67  std::vector<double> mVertices;
68 
70  std::vector<double> mNormals;
71 
73  std::vector<int> mIndices;
74 
76  dTriMeshDataID mOdeTriMeshDataId;
77 };
78 
79 } // namespace detail
80 } // namespace collision
81 } // namespace dart
82 
83 #endif // DART_COLLISION_ODE_DETAIL_ODEMESH_HPP_
Definition: OdeCollisionObject.hpp:49
Definition: OdeGeom.hpp:46
Definition: OdeMesh.hpp:46
dTriMeshDataID mOdeTriMeshDataId
ODE trimesh data.
Definition: OdeMesh.hpp:76
virtual ~OdeMesh()
Destructor.
Definition: OdeMesh.cpp:71
std::vector< double > mNormals
Array of normals values.
Definition: OdeMesh.hpp:70
void updateEngineData() override
Definition: OdeMesh.cpp:80
OdeMesh(const OdeCollisionObject *parent, const aiScene *scene, const Eigen::Vector3d &scale=Eigen::Vector3d::Ones())
Constructor.
Definition: OdeMesh.cpp:42
std::vector< int > mIndices
Array of index values.
Definition: OdeMesh.hpp:73
std::vector< double > mVertices
Array of vertex values.
Definition: OdeMesh.hpp:67
void fillArrays(const aiScene *scene, const Eigen::Vector3d &scale=Eigen::Vector3d::Ones())
Definition: OdeMesh.cpp:86
Definition: BulletCollisionDetector.cpp:63