How to use common::mesh for procedurally generating geometry

asked 2017-11-04 11:18:52 -0600

Galto2000 gravatar image

Howdy folks,

Could anyone point me in the right direction (examples would be nice) on how I would use Common::Mesh to create procedurally generated geometry in Gazebo?

For example, where are the primitive objects (box, sphere and cylinder) generated in the code, I figured that would be a good place to start?

I want to generate terrain and vegetation procedurally ( e.g. trees) from within a plug-in.

Any advise, suggestions, examples, ideas would be greatly appreciated.

Thanks,

Galto

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A little bit more in particular: I have an array of vertices, normals and UV-coordinates: how to I "fill up" my common::Mesh object with it? Galto

Galto2000 gravatar imageGalto2000 ( 2017-11-04 14:50:38 -0600 )edit

Maybe looking at the `ColladaLoader` source code could give you an idea: https://bitbucket.org/osrf/gazebo/src/a3eb517b0fa58d230f87e5dadf5976b1d4f1d3c9/gazebo/common/ColladaLoader.cc?fileviewer=file-view-default#ColladaLoader.cc-1938

chapulina gravatar imagechapulina ( 2017-11-04 20:11:16 -0600 )edit

Yeah, or STLLoader too https://bitbucket.org/osrf/gazebo/src/a3eb517b0fa58d230f87e5dadf5976b1d4f1d3c9/gazebo/common/STLLoader.cc?at=default&fileviewer=file-view-default thanks! Galto

Galto2000 gravatar imageGalto2000 ( 2017-11-04 23:01:05 -0600 )edit
1

Another great example on how to turn vertex strips into meshes (which was actually suggested to me before by Carlos Agüero in another post of mine: http://answers.gazebosim.org/question/17454/programatically-generating-worlds-from-google-earth-kml-files/ ) is in the Terminus project, and more in particular this code: https://bitbucket.org/ekumen/terminus-simulation/src/14fc2524320a960c8569cf33afba2e19cb89ac5b/gazebo/rndf_gazebo_plugin/src/mesh_creator.cc?at=master&fileviewer=file-view-default

Galto2000 gravatar imageGalto2000 ( 2017-11-05 10:07:06 -0600 )edit
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