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Shape.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_SG_PQP_SHAPE_H_
31 #define _RL_SG_PQP_SHAPE_H_
32 
33 #include <PQP.h>
34 #include <utility>
35 #include <Inventor/actions/SoCallbackAction.h>
36 #include <Inventor/fields/SoMFInt32.h>
37 #include <Inventor/fields/SoMFVec3f.h>
38 
39 #include "../Shape.h"
40 
41 namespace rl
42 {
43  namespace sg
44  {
45  namespace pqp
46  {
47  class Shape : public ::rl::sg::Shape
48  {
49  public:
50  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51 
52  Shape(SoVRMLShape* shape, Body* body);
53 
54  virtual ~Shape();
55 
57 
59 
60  void update();
61 
62  PQP_Model model;
63 
64  PQP_REAL rotation[3][3];
65 
66  PQP_REAL translation[3];
67 
68  protected:
69 
70  private:
71  typedef ::std::pair<PQP_Model*, ::std::size_t> Model;
72 
73  static void triangleCallback(void* userData, SoCallbackAction* action, const SoPrimitiveVertex* v1, const SoPrimitiveVertex* v2, const SoPrimitiveVertex* v3);
74 
76 
78  };
79  }
80  }
81 }
82 
83 #endif // _RL_SG_PQP_SHAPE_H_