100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
#ifndef _GAZEBO_STLLOADER_HH_
|
|
#define _GAZEBO_STLLOADER_HH_
|
|
|
|
#include <stdint.h>
|
|
#include <string>
|
|
|
|
#include "gazebo/common/MeshLoader.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
#define LINE_MAX_LEN 256
|
|
#define COR3_MAX 200000
|
|
#define ORDER_MAX 10
|
|
#define FACE_MAX 200000
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace common
|
|
{
|
|
/// \addtogroup gazebo_common Common
|
|
/// \{
|
|
|
|
/// \class STLLoader STLLoader.hh common/common.hh
|
|
/// \brief Class used to load STL mesh files
|
|
class GZ_COMMON_VISIBLE STLLoader : public MeshLoader
|
|
{
|
|
/// \brief Constructor
|
|
public: STLLoader();
|
|
|
|
/// \brief Destructor
|
|
public: virtual ~STLLoader();
|
|
|
|
/// \brief Creates a new mesh and loads the data from a file
|
|
/// \param[in] _filename the mesh file
|
|
public: virtual Mesh *Load(const std::string &_filename);
|
|
|
|
/// \brief Reads an ASCII STL (stereolithography) file.
|
|
/// \param[in] _filein the file pointer
|
|
/// \param[out] _mesh the mesh where to load the data
|
|
/// \return true if read was successful
|
|
private: bool ReadAscii(FILE *_filein, Mesh *_mesh);
|
|
|
|
/// \brief Reads a binary STL (stereolithography) file.
|
|
/// \param[in] _filein the file pointer
|
|
/// \param[out] the mesh where to load the data
|
|
/// \return true if read was successful
|
|
private: bool ReadBinary(FILE *_filein, Mesh *_mesh);
|
|
|
|
/// \brief Compares two strings for equality, disregarding case.
|
|
/// \param[in] _string1 the first string
|
|
/// \param[in] _string2 the seconf string
|
|
/// \return true if the strings are equal (same content)
|
|
private: bool Leqi(char* _string1, char* _string2);
|
|
|
|
/// \brief Finds if a vector occurs in a table. This is done using
|
|
/// floating point comparison with the default tolerance of 1e-6
|
|
/// \param[in] _a the vector data
|
|
/// \param[in] _m the number of columns in the table
|
|
/// \param[in] _n the number of rows in the table
|
|
/// \return The column index of the vector
|
|
private: int RcolFind(float _a[][COR3_MAX], int _m, int _n, float _r[]);
|
|
|
|
/// \brief Reads a long int from a binary file.
|
|
/// \param[in] _filein the file pointer
|
|
/// \return the value
|
|
private: uint32_t LongIntRead(FILE *_filein);
|
|
|
|
/// \brief Reads a short int from a binary file.
|
|
/// \param[in] _filein the file pointer
|
|
/// \param[out] _value the value read
|
|
/// \return true
|
|
private: bool ShortIntRead(FILE *_filein, uint16_t &_value);
|
|
|
|
/// \brief Read 1 double precision float from a binary file.
|
|
/// \param[in] _filein the file pointer
|
|
/// \param[out] the value
|
|
/// \return true
|
|
private: bool FloatRead(FILE *_filein, double &_value);
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
#endif
|
|
|