loader.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2016, CNRS - LAAS
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#include <hpp/fcl/mesh_loader/loader.h>
#include <hpp/fcl/mesh_loader/assimp.h>

#ifdef HPP_FCL_HAS_OCTOMAP
#include <hpp/fcl/octree.h>
#endif

#include <hpp/fcl/BV/BV.h>

namespace hpp {
namespace fcl {
bool CachedMeshLoader::Key::operator<(const CachedMeshLoader::Key& b) const {
  const CachedMeshLoader::Key& a = *this;
  for (int i = 0; i < 3; ++i) {
    if (a.scale[i] < b.scale[i])
      return true;
    else if (a.scale[i] > b.scale[i])
      return false;
  }
  return std::less<std::string>()(a.filename, b.filename);
}

template <typename BV>
BVHModelPtr_t _load(const std::string& filename, const Vec3f& scale) {
  shared_ptr<BVHModel<BV> > polyhedron(new BVHModel<BV>);
  loadPolyhedronFromResource(filename, scale, polyhedron);
  return polyhedron;
}

BVHModelPtr_t MeshLoader::load(const std::string& filename,
                               const Vec3f& scale) {
  switch (bvType_) {
    case BV_AABB:
      return _load<AABB>(filename, scale);
    case BV_OBB:
      return _load<OBB>(filename, scale);
    case BV_RSS:
      return _load<RSS>(filename, scale);
    case BV_kIOS:
      return _load<kIOS>(filename, scale);
    case BV_OBBRSS:
      return _load<OBBRSS>(filename, scale);
    case BV_KDOP16:
      return _load<KDOP<16> >(filename, scale);
    case BV_KDOP18:
      return _load<KDOP<18> >(filename, scale);
    case BV_KDOP24:
      return _load<KDOP<24> >(filename, scale);
    default:
      throw std::invalid_argument("Unhandled bouding volume type.");
  }
}

CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) {
#ifdef HPP_FCL_HAS_OCTOMAP
  shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename));
  return CollisionGeometryPtr_t(new hpp::fcl::OcTree(octree));
#else
  throw std::logic_error(
      "hpp-fcl compiled without OctoMap. Cannot create OcTrees.");
#endif
}

BVHModelPtr_t CachedMeshLoader::load(const std::string& filename,
                                     const Vec3f& scale) {
  Key key(filename, scale);
  Cache_t::const_iterator _cached = cache_.find(key);
  if (_cached == cache_.end()) {
    BVHModelPtr_t geom = MeshLoader::load(filename, scale);
    cache_.insert(std::make_pair(key, geom));
    return geom;
  } else {
    return _cached->second;
  }
}
}  // namespace fcl

}  // namespace hpp