/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2016, CNRS - LAAS
 *  Copyright (c) 2020, INRIA
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef HPP_FCL_MESH_LOADER_LOADER_H
#define HPP_FCL_MESH_LOADER_LOADER_H

#include <boost/shared_ptr.hpp>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>

#include <map>

namespace hpp
{
namespace fcl {
  /// Base class for building polyhedron from files.
  /// This class builds a new object for each file.
  class HPP_FCL_DLLAPI MeshLoader
  {
    public:
      virtual ~MeshLoader() {}

      virtual BVHModelPtr_t load (const std::string& filename,
                                  const Vec3f& scale = Vec3f::Ones());

      /// Create an OcTree from a file in binary octomap format.
      /// \todo add OctreePtr_t
      virtual CollisionGeometryPtr_t loadOctree (const std::string& filename);

      MeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : bvType_ (bvType) {}

    private:
      const NODE_TYPE bvType_;
  };

  /// Class for building polyhedron from files with cache mechanism.
  /// This class builds a new object for each different file.
  /// If method CachedMeshLoader::load is called twice with the same arguments,
  /// the second call returns the result of the first call.
  class HPP_FCL_DLLAPI CachedMeshLoader : public MeshLoader
  {
    public:
      virtual ~CachedMeshLoader() {}

      CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}

      virtual BVHModelPtr_t load (const std::string& filename,
          const Vec3f& scale);

      struct HPP_FCL_DLLAPI Key {
        std::string filename;
        Vec3f scale;

        Key (const std::string& f, const Vec3f& s)
          : filename (f), scale (s) {}

        bool operator< (const CachedMeshLoader::Key& b) const;
      };
      typedef std::map <Key, BVHModelPtr_t> Cache_t;

      const Cache_t cache () const { return cache_; }
    private:
      Cache_t cache_;
  };
}

} // namespace hpp

#endif // FCL_MESH_LOADER_LOADER_H
