From 2c7162028725bebe649d2b92b4ceaab2d861796e Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 13 Apr 2019 11:25:32 +0200
Subject: [PATCH] Add node type as attribute of MeshLoader.
---
include/hpp/fcl/mesh_loader/loader.h | 39 +++++++++++++++++++++++-----
src/mesh_loader/loader.cpp | 14 ++++------
2 files changed, 37 insertions(+), 16 deletions(-)
diff --git a/include/hpp/fcl/mesh_loader/loader.h b/include/hpp/fcl/mesh_loader/loader.h
index bc04b05b..ce8a30af 100644
--- a/include/hpp/fcl/mesh_loader/loader.h
+++ b/include/hpp/fcl/mesh_loader/loader.h
@@ -39,6 +39,7 @@
#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
+#include <hpp/fcl/config.hh>
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/collision_object.h>
@@ -52,9 +53,23 @@ namespace fcl {
public:
virtual ~MeshLoader() {}
- virtual CollisionGeometryPtr_t load (const std::string& filename,
+ /// \param bvType ignored
+ /// \deprecated Use MeshLoader::load(const std::string&, const Vec3f&)
+ CollisionGeometryPtr_t load (const std::string& filename,
const Vec3f& scale,
- const NODE_TYPE& bvType);
+ const NODE_TYPE& bvType) HPP_FCL_DEPRECATED
+ {
+ (void) bvType;
+ return load (filename, scale);
+ }
+
+ virtual CollisionGeometryPtr_t load (const std::string& filename,
+ const Vec3f& scale);
+
+ MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}
+
+ private:
+ const NODE_TYPE bvType_;
};
/// Class for building polyhedron from files with cache mechanism.
@@ -66,17 +81,27 @@ namespace fcl {
public:
virtual ~CachedMeshLoader() {}
- virtual CollisionGeometryPtr_t load (const std::string& filename,
+ CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}
+
+ /// \param bvType ignored
+ /// \deprecated Use MeshLoader::load(const std::string&, const Vec3f&)
+ CollisionGeometryPtr_t load (const std::string& filename,
const Vec3f& scale,
- const NODE_TYPE& bvType);
+ const NODE_TYPE& bvType) HPP_FCL_DEPRECATED
+ {
+ (void) bvType;
+ return load(filename, scale);
+ }
+
+ virtual CollisionGeometryPtr_t load (const std::string& filename,
+ const Vec3f& scale);
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) {}
+ Key (const std::string& f, const Vec3f& s)
+ : filename (f), scale (s) {}
bool operator< (const CachedMeshLoader::Key& b) const;
};
diff --git a/src/mesh_loader/loader.cpp b/src/mesh_loader/loader.cpp
index 21392445..d2e9b36a 100644
--- a/src/mesh_loader/loader.cpp
+++ b/src/mesh_loader/loader.cpp
@@ -45,8 +45,6 @@ namespace fcl {
bool CachedMeshLoader::Key::operator< (const CachedMeshLoader::Key& b) const
{
const CachedMeshLoader::Key& a = *this;
- 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;
@@ -63,10 +61,9 @@ namespace fcl {
}
CollisionGeometryPtr_t MeshLoader::load (const std::string& filename,
- const Vec3f& scale,
- const NODE_TYPE& bvType)
+ const Vec3f& scale)
{
- switch (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);
@@ -81,13 +78,12 @@ namespace fcl {
}
CollisionGeometryPtr_t CachedMeshLoader::load (const std::string& filename,
- const Vec3f& scale,
- const NODE_TYPE& bvType)
+ const Vec3f& scale)
{
- Key key (filename, scale, bvType);
+ Key key (filename, scale);
Cache_t::const_iterator _cached = cache_.find (key);
if (_cached == cache_.end()) {
- CollisionGeometryPtr_t geom = MeshLoader::load (filename, scale, bvType);
+ CollisionGeometryPtr_t geom = MeshLoader::load (filename, scale);
cache_.insert (std::make_pair(key, geom));
return geom;
} else {
--
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