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/* Author: Tim Field */

// STLLoader.h

#ifndef COLLADA_URDF_STLLOADER_HH
#define COLLADA_URDF_STLLOADER_HH

#include <stdint.h>
#include <string>
#include <vector>

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

namespace collada_urdf
{
    class Vector3
    {
    public:
        Vector3(float x, float y, float z);

        bool operator==(const Vector3& v) const;

        float x;
        float y;
        float z;
    };

    class Mesh
    {
    public:
        Mesh();

        int getVertexIndex(const Vector3& v) const;

        void addVertex(const Vector3& v);
        void addNormal(const Vector3& n);
        void addIndex(unsigned int i);

    public:
        std::vector<Vector3>      vertices;
        std::vector<Vector3>      normals;
        std::vector<unsigned int> indices;
    };

    class STLLoader
    {
    public:
        Mesh* load(const std::string& filename);

    private:
        void     readBinary(FILE* filein, Mesh* mesh);
        uint32_t readLongInt(FILE* filein);
        uint16_t readShortInt(FILE* filein);
        float    readFloat(FILE* filein);
    };
}

#endif