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;

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_