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2016-12-06 13:22:50 -0600 commented answer Low-level access to triangle faces of mesh

I looked into the MeshManager class. It seems to be the right way to go. Thanks for the suggestion. I believe I need to use the [GetMesh](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1common_1_1MeshManager.html#a5f3ec75157e70e9800a7445a3e55a58d) function. Naturally, it requires a Mesh name string to be given as a parameter. I am sure I need to use the GetName function of the Link object. But, how do I get the mesh name/names associated with a link.

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2016-12-05 22:44:27 -0600 asked a question Low-level access to triangle faces of mesh

Is there any API to access triangle faces of a particular mesh ?

I want to implement a boat dynamics plugin that realistically deals with water-hull interaction.

Specifically, I want to mimic water interaction model for boats in video games. My idea is to compute water-hull interaction forces and apply it as wrench to the root link element of the boat model.

Here water is just going to be a grid of points that move up and down. The faces constructed by joining them serves as the uneven water surface. The hull of the boat is going to be a V shaped extrusion (much like a business card bent in half).

If Gazebo does not provide such functions, are there any robotics oriented simulator that may suit my needs.

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