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#ifndef HPP_FCL_MESH_LOADER_LOADER_H
#define HPP_FCL_MESH_LOADER_LOADER_H
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>
#include <map>
#include <ctime>
namespace hpp {
namespace fcl {
class HPP_FCL_DLLAPI MeshLoader {
public:
virtual ~MeshLoader() {}
virtual BVHModelPtr_t load(const std::string& filename,
const Vec3f& scale = Vec3f::Ones());
virtual CollisionGeometryPtr_t loadOctree(const std::string& filename);
MeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : bvType_(bvType) {}
private:
const NODE_TYPE bvType_;
};
class HPP_FCL_DLLAPI CachedMeshLoader : public MeshLoader {
public:
virtual ~CachedMeshLoader() {}
CachedMeshLoader(const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader(bvType) {}
virtual BVHModelPtr_t load(const std::string& filename, const Vec3f& scale);
struct HPP_FCL_DLLAPI Key {
std::string filename;
Vec3f scale;
Key(const std::string& f, const Vec3f& s) : filename(f), scale(s) {}
bool operator<(const CachedMeshLoader::Key& b) const;
};
struct HPP_FCL_DLLAPI Value {
BVHModelPtr_t model;
std::time_t mtime;
};
typedef std::map<Key, Value> Cache_t;
const Cache_t& cache() const { return cache_; }
private:
Cache_t cache_;
};
} // namespace fcl
} // namespace hpp
#endif // FCL_MESH_LOADER_LOADER_H