text: /*
   * Copyright (c) 2013-2016, Graphics Lab, Georgia Tech Research Corporation
   * Copyright (c) 2013-2016, Humanoid Lab, Georgia Tech Research Corporation
   * Copyright (c) 2016, Personal Robotics Lab, Carnegie Mellon University
   * All rights reserved.
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_DYNAMICS_SOFTMESHSHAPE_HPP_
  #define DART_DYNAMICS_SOFTMESHSHAPE_HPP_
  
  #include <assimp/scene.h>
  #include "dart/dynamics/Shape.hpp"
  #include <Eigen/Dense>
  
  namespace dart {
  namespace dynamics {
  
  class SoftBodyNode;
  
  // TODO(JS): Implement
  class SoftMeshShape : public Shape
  {
  public:
  
    friend class SoftBodyNode;
  
    /// \brief Constructor.
    explicit SoftMeshShape(SoftBodyNode* _softBodyNode);
  
    /// \brief Destructor.
    virtual ~SoftMeshShape();
  
    // Documentation inherited.
    const std::string& getType() const override;
  
    /// Returns shape type for this class
    static const std::string& getStaticType();
  
    /// \brief
    const aiMesh* getAssimpMesh() const;
  
    /// Get the SoftBodyNode that is associated with this SoftMeshShape
    const SoftBodyNode* getSoftBodyNode() const;
  
    /// \brief Update positions of the vertices using the parent soft body node.
    void update();
  
    // Documentation inherited.
    Eigen::Matrix3d computeInertia(double mass) const override;
  
  protected:
    // Documentation inherited.
    void updateVolume() override;
  
  private:
    /// \brief Build mesh using SoftBodyNode data
    void _buildMesh();
  
    /// \brief
    SoftBodyNode* mSoftBodyNode;
  
    /// \brief
    std::unique_ptr<aiMesh> mAssimpMesh;
  };
  
  }  // namespace dynamics
  }  // namespace dart
  
  #endif  // DART_DYNAMICS_SOFTMESHSHAPE_HPP_
  