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dynamic loading meshes (collada heightmap) from memory

Hi,

for a project I have to generate different objects which will dynamiclly generated and loaded during runtime of the simulation. Therefore I have to load the (collada/heightmap/meshes) files as fast as possible.

In the tutorial plugins_world_tutorial is an way described how I can load the sdf files without saving on the hard drive. But this plugins need an URI to load the mesh/heighmap files from the hard drive of the pc.

Now I have two questions:

  1. Is there a way/function to create this meshes directly (without saving these files on the hard drive of the pc) for my plugin? if possible I want to skip caching on the hard drive.

  2. Has gazebo an interface to create the meshes directly from calculated triangles and Polygon?

I hope you can help me.