STLLoader.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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 STLLOADER_HH
#define STLLOADER_HH

#include <stdint.h>

#include "common/MeshLoader.hh"

#define LINE_MAX_LEN 256
#define COR3_MAX 200000
#define ORDER_MAX 10
#define FACE_MAX 200000


namespace gazebo
{
    namespace common
  {

    class STLLoader : public MeshLoader
    {
      public: STLLoader();
  
      public: virtual ~STLLoader();
  
      public: virtual Mesh *Load( const std::string &filename );
  
      private: void ReadAscii( FILE *filein, Mesh *mesh );
  
      private: void 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: uint16_t ShortIntRead ( FILE *filein );
  
      private: float FloatRead ( FILE *filein );
  
    };
  }
}
#endif