loader.h

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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