133 lines
4.0 KiB
C++
133 lines
4.0 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redstributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Tim Field */
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// STLLoader.cpp
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#include <iostream>
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#include <string.h>
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#include <ctype.h>
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#include <stdio.h>
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#include "STLLoader.h"
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using namespace collada_urdf;
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Vector3::Vector3(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { }
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bool Vector3::operator==(const Vector3& v) const {
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return x == v.x && y == v.y && z == v.z;
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}
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Mesh::Mesh() {
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}
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int Mesh::getVertexIndex(const Vector3& v) const {
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for (unsigned int i = 0; i < vertices.size(); i++)
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if (vertices[i] == v)
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return i;
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return -1;
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}
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void Mesh::addVertex(const Vector3& v) { vertices.push_back(v); }
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void Mesh::addNormal(const Vector3& n) { normals.push_back(n); }
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void Mesh::addIndex(unsigned int i) { indices.push_back(i); }
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//
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Mesh* STLLoader::load(const std::string& filename) {
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Mesh* mesh = new Mesh();
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FILE* file = fopen(filename.c_str(), "r");
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readBinary(file, mesh);
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fclose(file);
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return mesh;
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}
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void STLLoader::readBinary(FILE* filein, Mesh* mesh) {
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// 80 byte Header
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for (int i = 0; i < 80; i++)
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fgetc(filein);
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int face_num = readLongInt(filein);
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for (int iface = 0; iface < face_num; iface++) {
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Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein));
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for (int i = 0; i < 3; i++) {
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Vector3 vertex(readFloat(filein), readFloat(filein), readFloat(filein));
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int index = mesh->getVertexIndex(vertex);
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if (index == -1) {
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mesh->addVertex(vertex);
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mesh->addNormal(normal);
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index = mesh->vertices.size() - 1;
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}
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mesh->addIndex(index);
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}
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readShortInt(filein); // 2 byte attribute
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}
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}
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float STLLoader::readFloat(FILE* filein) {
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float rval;
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if (fread(&rval, sizeof(float), 1, filein) == 0)
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std::cerr << "Error in STLLoader::readFloat" << std::endl;
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return rval;
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}
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uint32_t STLLoader::readLongInt(FILE* filein) {
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union
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{
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uint32_t yint;
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char ychar[4];
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} y;
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y.ychar[0] = fgetc(filein);
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y.ychar[1] = fgetc(filein);
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y.ychar[2] = fgetc(filein);
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y.ychar[3] = fgetc(filein);
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return y.yint;
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}
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uint16_t STLLoader::readShortInt(FILE* filein) {
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uint8_t c1 = fgetc(filein);
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uint8_t c2 = fgetc(filein);
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uint16_t ival = c1 | (c2 << 8);
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return ival;
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}
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