From ffc1acb5fcfe65d79660d1301da7066ba4d52a5e Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 12 Jun 2019 17:08:44 +0200
Subject: [PATCH] [Assimp] Fix assimp loading.
---
include/hpp/fcl/mesh_loader/assimp.h | 108 ++++++++++++---------------
1 file changed, 49 insertions(+), 59 deletions(-)
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 8f0bce65..d8732085 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -73,62 +73,22 @@ struct TriangleAndVertices
std::vector <fcl::Triangle> triangles_;
};
-/**
- * @brief Convert an assimp scene to a mesh
- *
- * @param[in] name File (ressource) transformed into an assimp scene in loa
- * @param[in] scale Scale to apply when reading the ressource
- * @param[in] scene Pointer to the assimp scene
- * @param[out] mesh The mesh that must be built
- */
-template<class BoundingVolume>
-inline void meshFromAssimpScene(const std::string & name,
- const fcl::Vec3f & scale,
- const aiScene* scene,
- const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh) throw (std::invalid_argument)
-{
- TriangleAndVertices tv;
-
- if (!scene->HasMeshes())
- throw std::invalid_argument (std::string ("No meshes found in file ")+name);
-
- std::vector<unsigned> subMeshIndexes;
- int res = mesh->beginModel ();
-
- if (res != fcl::BVH_OK)
- {
- std::ostringstream error;
- error << "fcl BVHReturnCode = " << res;
- throw std::runtime_error (error.str ());
- }
-
- tv.clear();
-
- buildMesh (scale, scene, scene->mRootNode, subMeshIndexes, mesh, tv);
- mesh->addSubModel (tv.vertices_, tv.triangles_);
-
- mesh->endModel ();
-}
-
/**
* @brief Recursive procedure for building a mesh
*
* @param[in] scale Scale to apply when reading the ressource
* @param[in] scene Pointer to the assimp scene
* @param[in] node Current node of the scene
- * @param subMeshIndexes Submesh triangles indexes interval
- * @param[in] mesh The mesh that must be built
+ * @param[in] vertices_offset Current number of vertices in the model
* @param tv Triangles and Vertices of the mesh submodels
*/
-template<class BoundingVolume>
-inline void buildMesh (const fcl::Vec3f & scale,
+inline unsigned buildMesh (const fcl::Vec3f & scale,
const aiScene* scene,
const aiNode* node,
- std::vector<unsigned> & subMeshIndexes,
- const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh,
+ unsigned vertices_offset,
TriangleAndVertices & tv)
{
- if (!node) return;
+ if (!node) return 0;
aiMatrix4x4 transform = node->mTransformation;
aiNode *pnode = node->mParent;
@@ -143,13 +103,11 @@ inline void buildMesh (const fcl::Vec3f & scale,
pnode = pnode->mParent;
}
+ unsigned nbVertices = 0;
for (uint32_t i = 0; i < node->mNumMeshes; i++)
{
aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]];
- unsigned oldNbPoints = (unsigned) mesh->num_vertices;
- unsigned oldNbTriangles = (unsigned) mesh->num_tris;
-
// Add the vertices
for (uint32_t j = 0; j < input_mesh->mNumVertices; j++)
{
@@ -175,26 +133,58 @@ inline void buildMesh (const fcl::Vec3f & scale,
ss << "Face index: " << j << "\n";
throw std::invalid_argument (ss.str());
}
- tv.triangles_.push_back (fcl::Triangle( oldNbPoints + face.mIndices[0],
- oldNbPoints + face.mIndices[1],
- oldNbPoints + face.mIndices[2]));
+ tv.triangles_.push_back (fcl::Triangle(vertices_offset + face.mIndices[0],
+ vertices_offset + face.mIndices[1],
+ vertices_offset + face.mIndices[2]));
}
-
- // Save submesh triangles indexes interval.
- if (subMeshIndexes.size () == 0)
- {
- subMeshIndexes.push_back (0);
- }
-
- subMeshIndexes.push_back (oldNbTriangles + input_mesh->mNumFaces);
+
+ nbVertices += input_mesh->mNumVertices;
}
for (uint32_t i=0; i < node->mNumChildren; ++i)
{
- buildMesh(scale, scene, node->mChildren[i], subMeshIndexes, mesh, tv);
+ nbVertices += buildMesh(scale, scene, node->mChildren[i], nbVertices, tv);
}
+
+ return nbVertices;
}
+/**
+ * @brief Convert an assimp scene to a mesh
+ *
+ * @param[in] name File (ressource) transformed into an assimp scene in loa
+ * @param[in] scale Scale to apply when reading the ressource
+ * @param[in] scene Pointer to the assimp scene
+ * @param[out] mesh The mesh that must be built
+ */
+template<class BoundingVolume>
+inline void meshFromAssimpScene(const std::string & name,
+ const fcl::Vec3f & scale,
+ const aiScene* scene,
+ const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh) throw (std::invalid_argument)
+{
+ TriangleAndVertices tv;
+
+ if (!scene->HasMeshes())
+ throw std::invalid_argument (std::string ("No meshes found in file ")+name);
+
+ int res = mesh->beginModel ();
+
+ if (res != fcl::BVH_OK)
+ {
+ std::ostringstream error;
+ error << "fcl BVHReturnCode = " << res;
+ throw std::runtime_error (error.str ());
+ }
+
+ tv.clear();
+
+ buildMesh (scale, scene, scene->mRootNode,
+ (unsigned) mesh->num_vertices, tv);
+ mesh->addSubModel (tv.vertices_, tv.triangles_);
+
+ mesh->endModel ();
+}
/**
* @brief Read a mesh file and convert it to a polyhedral mesh
--
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