assimp.h 4.41 KB
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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  Copyright (c) 2016-2019, CNRS - LAAS
 *  Copyright (c) 2019, INRIA
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 *  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.
 */

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#ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
#define HPP_FCL_MESH_LOADER_ASSIMP_H
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#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BVH/BVH_model.h>

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class aiScene;
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namespace Assimp {
  class Importer;
}
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namespace hpp
{
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namespace fcl
{

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namespace internal
{
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struct TriangleAndVertices
{
  std::vector <fcl::Vec3f> vertices_;
  std::vector <fcl::Triangle> triangles_;
};

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struct Loader {
  Loader ();
  ~Loader ();

  void load (const std::string& resource_path);

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  Assimp::Importer* importer;
  aiScene const* scene;
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};

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/**
 * @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
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 * @param[in]  vertices_offset Current number of vertices in the model
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 * @param      tv              Triangles and Vertices of the mesh submodels
 */
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void buildMesh (const fcl::Vec3f & scale,
                const aiScene* scene,
                unsigned vertices_offset,
                TriangleAndVertices & tv);
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/**
 * @brief      Convert an assimp scene to a mesh
 *
 * @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>   
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inline void meshFromAssimpScene(
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                         const fcl::Vec3f & scale,
                         const aiScene* scene,
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                         const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh)
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{
  TriangleAndVertices tv;
  
  int res = mesh->beginModel ();
  
  if (res != fcl::BVH_OK)
  {
    std::ostringstream error;
    error << "fcl BVHReturnCode = " << res;
    throw std::runtime_error (error.str ());
  }
    
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  buildMesh (scale, scene, (unsigned) mesh->num_vertices, tv);
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  mesh->addSubModel (tv.vertices_, tv.triangles_);
    
  mesh->endModel ();
}
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} // namespace internal

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/**
 * @brief      Read a mesh file and convert it to a polyhedral mesh
 *
 * @param[in]  resource_path  Path to the ressource mesh file to be read
 * @param[in]  scale          Scale to apply when reading the ressource
 * @param[out] polyhedron     The resulted polyhedron
 */
template<class BoundingVolume>
inline void loadPolyhedronFromResource (const std::string & resource_path,
                                 const fcl::Vec3f & scale,
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                                 const boost::shared_ptr < BVHModel<BoundingVolume> > & polyhedron)
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{
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  internal::Loader scene;
  scene.load (resource_path);
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  internal::meshFromAssimpScene (scale, scene.scene, polyhedron);
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}

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} // namespace fcl
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} // namespace hpp

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#endif // HPP_FCL_MESH_LOADER_ASSIMP_H