STLLoader.hh

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/*
 * Copyright (C) 2012-2015 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
  {

    class GZ_COMMON_VISIBLE STLLoader : public MeshLoader
    {
      public: STLLoader();

      public: virtual ~STLLoader();

      public: virtual Mesh *Load(const std::string &_filename);

      private: bool ReadAscii(FILE *_filein, Mesh *_mesh);

      private: bool ReadBinary(FILE *_filein, Mesh *_mesh);

      private: bool Leqi(char* _string1, char* _string2);

      private: int RcolFind(float _a[][COR3_MAX], int _m, int _n, float _r[]);

      private: uint32_t LongIntRead(FILE *_filein);

      private: bool ShortIntRead(FILE *_filein, uint16_t &_value);

      private: bool FloatRead(FILE *_filein, double &_value);
    };
  }
}
#endif