text: /*
   * Copyright (C) 2012-2015 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
  */
  #ifndef _GAZEBO_MESHCSG_HH_
  #define _GAZEBO_MESHCSG_HH_
  
  #include <ignition/math/Pose3.hh>
  
  #include "gazebo/math/Pose.hh"
  #include "gazebo/util/system.hh"
  
  struct _GtsSurface;
  typedef _GtsSurface GtsSurface;
  struct _GPtrArray;
  typedef _GPtrArray GPtrArray;
  
  namespace gazebo
  {
    namespace common
    {
      class Mesh;
  
      /// \addtogroup gazebo_common Common
      /// \{
  
      /// \class MeshCSG MeshCSG.hh common/common.hh
      /// \brief Creates CSG meshes
      class GZ_COMMON_VISIBLE MeshCSG
      {
        /// \brief An enumeration of the boolean operations
        public: enum BooleanOperation {UNION, INTERSECTION, DIFFERENCE};
  
        /// \brief Constructor
        public: MeshCSG();
  
        /// \brief Destructor.
        public: virtual ~MeshCSG();
  
        /// \brief Create a boolean mesh from two meshes
        /// \param[in] _m1 the parent mesh in the boolean operation
        /// \param[in] _m2 the child mesh in the boolean operation
        /// \param[in] _operation the boolean operation applied to the two meshes
        /// \param[in] _offset _m2's pose offset from _m1
        /// \return a pointer to the created mesh
        /// \deprecated See CreateBoolean function that accepts ignition math
        /// objects
        public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
            const int _operation, const math::Pose &_offset = math::Pose::Zero)
                 GAZEBO_DEPRECATED(6.0);
  
        /// \brief Create a boolean mesh from two meshes
        /// \param[in] _m1 the parent mesh in the boolean operation
        /// \param[in] _m2 the child mesh in the boolean operation
        /// \param[in] _operation the boolean operation applied to the two meshes
        /// \param[in] _offset _m2's pose offset from _m1
        /// \return a pointer to the created mesh
        public: Mesh *CreateBoolean(const Mesh *_m1, const Mesh *_m2,
            const int _operation,
            const ignition::math::Pose3d &_offset = ignition::math::Pose3d::Zero);
  
        /// \brief Helper method for converting Mesh to GTS Surface
        private: void ConvertMeshToGTS(const Mesh *mesh, GtsSurface *surface);
  
        /// \brief Helper method for merging neighborhood vertices whose positions
        // are within epsilon
        /// \param[in] _vertices Array of GTS vertices.
        /// \param[in] _epsilon Epsilon
        private: void MergeVertices(GPtrArray * _vertices, double _epsilon);
      };
      /// \}
    }
  }
  
  #endif
  