From 9843a18246508d4b698bf177320a4be986dd4aaa Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 28 Dec 2018 22:12:43 +0100
Subject: [PATCH] Add class for loading meshes from files.
---
CMakeLists.txt | 1 +
include/hpp/fcl/mesh_loader/loader.h | 87 +++++++++++++++++++++++++
src/CMakeLists.txt | 1 +
src/mesh_loader/loader.cpp | 94 ++++++++++++++++++++++++++++
4 files changed, 183 insertions(+)
create mode 100644 include/hpp/fcl/mesh_loader/loader.h
create mode 100644 src/mesh_loader/loader.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06e82682..1037f4f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -152,6 +152,7 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/octree.h
include/hpp/fcl/fwd.hh
include/hpp/fcl/mesh_loader/assimp.h
+ include/hpp/fcl/mesh_loader/loader.h
)
add_subdirectory(src)
diff --git a/include/hpp/fcl/mesh_loader/loader.h b/include/hpp/fcl/mesh_loader/loader.h
new file mode 100644
index 00000000..0c51d760
--- /dev/null
+++ b/include/hpp/fcl/mesh_loader/loader.h
@@ -0,0 +1,87 @@
+/*
+ * 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.
+ */
+
+#ifndef FCL_MESH_LOADER_LOADER_H
+#define FCL_MESH_LOADER_LOADER_H
+
+#include <boost/shared_ptr.hpp>
+#include <hpp/fcl/fwd.hh>
+#include <hpp/fcl/math/vec_3f.h>
+#include <hpp/fcl/collision_object.h>
+
+namespace fcl {
+ /// Base class for building polyhedron from files.
+ /// This class builds a new object for each file.
+ class MeshLoader
+ {
+ public:
+ virtual ~MeshLoader() {}
+
+ virtual CollisionGeometryPtr_t load (const std::string& filename,
+ const Vec3f& scale,
+ const NODE_TYPE& bvType);
+ };
+
+ /// Class for building polyhedron from files with cache mechanism.
+ /// This class builds a new object for each different file.
+ /// If method CachedMeshLoader::load is called twice with the same arguments,
+ /// the second call returns the result of the first call.
+ class CachedMeshLoader : public MeshLoader
+ {
+ public:
+ virtual ~CachedMeshLoader() {}
+
+ virtual CollisionGeometryPtr_t load (const std::string& filename,
+ const Vec3f& scale,
+ const NODE_TYPE& bvType);
+
+ struct Key {
+ std::string filename;
+ Vec3f scale;
+ NODE_TYPE bvType;
+
+ Key (const std::string& f, const Vec3f& s, const NODE_TYPE& t)
+ : filename (f), scale (s), bvType (t) {}
+ };
+ typedef std::map <Key, CollisionGeometryPtr_t> Cache_t;
+
+ const Cache_t cache () const { return cache_; }
+ private:
+ Cache_t cache_;
+ };
+}
+
+#endif // FCL_MESH_LOADER_LOADER_H
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index fffa3787..c683748b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -78,6 +78,7 @@ set(${LIBRARY_NAME}_SOURCES
BVH/BV_splitter.cpp
collision_func_matrix.cpp
collision_utility.cpp
+ mesh_loader/loader.cpp
)
# Declare boost include directories
diff --git a/src/mesh_loader/loader.cpp b/src/mesh_loader/loader.cpp
new file mode 100644
index 00000000..caa4590b
--- /dev/null
+++ b/src/mesh_loader/loader.cpp
@@ -0,0 +1,94 @@
+/*
+ * 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>
+
+#include <hpp/fcl/BV/BV.h>
+
+namespace fcl {
+ bool operator< (const CachedMeshLoader::Key& a, const CachedMeshLoader::Key& b)
+ {
+ if (a.bvType < b.bvType) return true;
+ if (a.bvType > b.bvType) return false;
+ 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>
+ CollisionGeometryPtr_t _load (const std::string& filename, const Vec3f& scale)
+ {
+ boost::shared_ptr < BVHModel<BV> > polyhedron (new BVHModel<BV>);
+ loadPolyhedronFromResource (filename, scale, polyhedron);
+ return polyhedron;
+ }
+
+ CollisionGeometryPtr_t MeshLoader::load (const std::string& filename,
+ const Vec3f& scale,
+ const NODE_TYPE& bvType)
+ {
+ 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 CachedMeshLoader::load (const std::string& filename,
+ const Vec3f& scale,
+ const NODE_TYPE& bvType)
+ {
+ Key key (filename, scale, bvType);
+ Cache_t::const_iterator _cached = cache_.find (key);
+ if (_cached == cache_.end()) {
+ CollisionGeometryPtr_t geom = MeshLoader::load (filename, scale, bvType);
+ cache_.insert (std::make_pair(key, geom));
+ return geom;
+ } else {
+ return _cached->second;
+ }
+ }
+}
--
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