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|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * Copyright (c) 2016, CNRS - LAAS | ||
| 7 | * All rights reserved. | ||
| 8 | * | ||
| 9 | * Redistribution and use in source and binary forms, with or without | ||
| 10 | * modification, are permitted provided that the following conditions | ||
| 11 | * are met: | ||
| 12 | * | ||
| 13 | * * Redistributions of source code must retain the above copyright | ||
| 14 | * notice, this list of conditions and the following disclaimer. | ||
| 15 | * * Redistributions in binary form must reproduce the above | ||
| 16 | * copyright notice, this list of conditions and the following | ||
| 17 | * disclaimer in the documentation and/or other materials provided | ||
| 18 | * with the distribution. | ||
| 19 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 20 | * contributors may be used to endorse or promote products derived | ||
| 21 | * from this software without specific prior written permission. | ||
| 22 | * | ||
| 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 24 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 25 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 26 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 27 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 28 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 29 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 30 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 32 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 33 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 34 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 35 | */ | ||
| 36 | |||
| 37 | #include "coal/mesh_loader/loader.h" | ||
| 38 | #include "coal/mesh_loader/assimp.h" | ||
| 39 | |||
| 40 | #include <boost/filesystem.hpp> | ||
| 41 | |||
| 42 | #ifdef COAL_HAS_OCTOMAP | ||
| 43 | #include "coal/octree.h" | ||
| 44 | #endif | ||
| 45 | |||
| 46 | #include "coal/BV/BV.h" | ||
| 47 | |||
| 48 | namespace coal { | ||
| 49 | 16 | bool CachedMeshLoader::Key::operator<(const CachedMeshLoader::Key& b) const { | |
| 50 | 16 | const CachedMeshLoader::Key& a = *this; | |
| 51 |
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64 | for (int i = 0; i < 3; ++i) { |
| 52 |
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48 | if (a.scale[i] < b.scale[i]) |
| 53 | ✗ | return true; | |
| 54 |
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48 | else if (a.scale[i] > b.scale[i]) |
| 55 | ✗ | return false; | |
| 56 | } | ||
| 57 | 16 | return std::less<std::string>()(a.filename, b.filename); | |
| 58 | } | ||
| 59 | |||
| 60 | template <typename BV> | ||
| 61 | 18 | BVHModelPtr_t _load(const std::string& filename, const Vec3s& scale) { | |
| 62 |
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18 | shared_ptr<BVHModel<BV> > polyhedron(new BVHModel<BV>); |
| 63 |
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18 | loadPolyhedronFromResource(filename, scale, polyhedron); |
| 64 | 36 | return polyhedron; | |
| 65 | 18 | } | |
| 66 | |||
| 67 | 9 | BVHModelPtr_t MeshLoader::load(const std::string& filename, | |
| 68 | const Vec3s& scale) { | ||
| 69 |
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9 | switch (bvType_) { |
| 70 | 1 | case BV_AABB: | |
| 71 | 1 | return _load<AABB>(filename, scale); | |
| 72 | 1 | case BV_OBB: | |
| 73 | 1 | return _load<OBB>(filename, scale); | |
| 74 | 1 | case BV_RSS: | |
| 75 | 1 | return _load<RSS>(filename, scale); | |
| 76 | 1 | case BV_kIOS: | |
| 77 | 1 | return _load<kIOS>(filename, scale); | |
| 78 | 2 | case BV_OBBRSS: | |
| 79 | 2 | return _load<OBBRSS>(filename, scale); | |
| 80 | 1 | case BV_KDOP16: | |
| 81 | 1 | return _load<KDOP<16> >(filename, scale); | |
| 82 | 1 | case BV_KDOP18: | |
| 83 | 1 | return _load<KDOP<18> >(filename, scale); | |
| 84 | 1 | case BV_KDOP24: | |
| 85 | 1 | return _load<KDOP<24> >(filename, scale); | |
| 86 | ✗ | default: | |
| 87 | ✗ | COAL_THROW_PRETTY("Unhandled bouding volume type.", | |
| 88 | std::invalid_argument); | ||
| 89 | } | ||
| 90 | } | ||
| 91 | |||
| 92 | ✗ | CollisionGeometryPtr_t MeshLoader::loadOctree(const std::string& filename) { | |
| 93 | #ifdef COAL_HAS_OCTOMAP | ||
| 94 | ✗ | shared_ptr<octomap::OcTree> octree(new octomap::OcTree(filename)); | |
| 95 | ✗ | return CollisionGeometryPtr_t(new coal::OcTree(octree)); | |
| 96 | #else | ||
| 97 | COAL_THROW_PRETTY("Coal compiled without OctoMap. Cannot create OcTrees.", | ||
| 98 | std::logic_error); | ||
| 99 | #endif | ||
| 100 | ✗ | } | |
| 101 | |||
| 102 | 16 | BVHModelPtr_t CachedMeshLoader::load(const std::string& filename, | |
| 103 | const Vec3s& scale) { | ||
| 104 |
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16 | Key key(filename, scale); |
| 105 | |||
| 106 | 16 | std::time_t mtime = 0; | |
| 107 | try { | ||
| 108 |
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16 | mtime = boost::filesystem::last_write_time(filename); |
| 109 | |||
| 110 |
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16 | Cache_t::const_iterator _cached = cache_.find(key); |
| 111 |
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16 | if (_cached != cache_.end() && _cached->second.mtime == mtime) |
| 112 | // File found in cache and mtime is the same | ||
| 113 | 8 | return _cached->second.model; | |
| 114 | ✗ | } catch (boost::filesystem::filesystem_error&) { | |
| 115 | // Could not stat. Make sure we will try to load the file so that | ||
| 116 | // there will be a file not found error. | ||
| 117 | ✗ | } | |
| 118 | |||
| 119 |
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8 | BVHModelPtr_t geom = MeshLoader::load(filename, scale); |
| 120 | 8 | Value val; | |
| 121 | 8 | val.model = geom; | |
| 122 | 8 | val.mtime = mtime; | |
| 123 |
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8 | cache_[key] = val; |
| 124 | 8 | return geom; | |
| 125 | 16 | } | |
| 126 | } // namespace coal | ||
| 127 |