loader.cpp

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#include <hpp/fcl/mesh_loader/loader.h>
#include <hpp/fcl/mesh_loader/assimp.h>
 
#include <boost/filesystem.hpp>
 
#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);
 
  std::time_t mtime = 0;
  try {
    mtime = boost::filesystem::last_write_time(filename);
 
    Cache_t::const_iterator _cached = cache_.find(key);
    if (_cached != cache_.end() && _cached->second.mtime == mtime)
      // File found in cache and mtime is the same
      return _cached->second.model;
  } catch (boost::filesystem::filesystem_error&) {
    // Could not stat. Make sure we will try to load the file so that
    // there will be a file not found error.
  }
 
  BVHModelPtr_t geom = MeshLoader::load(filename, scale);
  Value val;
  val.model = geom;
  val.mtime = mtime;
  cache_[key] = val;
  return geom;
}
}  // namespace fcl
 
}  // namespace hpp