diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3fc08c3492e503ee4bcf2bd798519441e603411a..92d1b512c26869a0f17be780f5a2f64957c30a9b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,10 +97,8 @@ ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
if(ASSIMP_FOUND)
if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
add_definitions(-DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
- SET(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE)
message(STATUS "Assimp version has unified headers")
else()
- SET(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES FALSE)
message(STATUS "Assimp version does not have unified headers")
endif()
endif()
@@ -161,10 +159,6 @@ endif ()
pkg_config_append_libs("hpp-fcl")
PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system)
-IF(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
- #Â FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES kept for backard compatibility reasons.
- PKG_CONFIG_APPEND_CFLAGS("-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES")
-ENDIF(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
IF(HPP_FCL_HAVE_OCTOMAP)
#Â FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS(
diff --git a/include/hpp/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
index 1f29a9bbbb8b18f3f5b34b3b605ad2c51758e386..c07cd8188ef01b4cff273fdba81ded028f61db8f 100644
--- a/include/hpp/fcl/BVH/BVH_model.h
+++ b/include/hpp/fcl/BVH/BVH_model.h
@@ -54,8 +54,7 @@ namespace fcl
/// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
template<typename BV>
-class BVHModel : public CollisionGeometry,
- private boost::noncopyable
+class BVHModel : public CollisionGeometry
{
public:
diff --git a/include/hpp/fcl/fwd.hh b/include/hpp/fcl/fwd.hh
index 45fc60eceb5bc2e808476d4e72b2843cb045db57..7c5a301667330a84ee1eb7c9c195e2a57ee65b37 100644
--- a/include/hpp/fcl/fwd.hh
+++ b/include/hpp/fcl/fwd.hh
@@ -37,6 +37,8 @@
#ifndef HPP_FCL_FWD_HH
#define HPP_FCL_FWD_HH
+#include <boost/shared_ptr.hpp>
+
namespace hpp {
namespace fcl {
class CollisionObject;
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 2b3078d4574402f1cedd87995588e1f8887a042b..3849fc7dd782e4c1f9b4699f3086ded6b5c9edfc 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -37,30 +37,18 @@
#ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
#define HPP_FCL_MESH_LOADER_ASSIMP_H
-#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
- #include <assimp/DefaultLogger.hpp>
- #include <assimp/IOStream.hpp>
- #include <assimp/IOSystem.hpp>
- #include <assimp/scene.h>
- #include <assimp/Importer.hpp>
- #include <assimp/postprocess.h>
-#else
- #include <assimp/DefaultLogger.h>
- #include <assimp/assimp.hpp>
- #include <assimp/IOStream.h>
- #include <assimp/IOSystem.h>
- #include <assimp/aiScene.h>
- #include <assimp/aiPostProcess.h>
-#endif
-
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BVH/BVH_model.h>
+class aiScene;
+
namespace hpp
{
namespace fcl
{
+namespace internal
+{
struct TriangleAndVertices
{
@@ -68,6 +56,15 @@ struct TriangleAndVertices
std::vector <fcl::Triangle> triangles_;
};
+struct Loader {
+ Loader ();
+ ~Loader ();
+
+ void load (const std::string& resource_path);
+
+ aiScene* scene;
+};
+
/**
* @brief Recursive procedure for building a mesh
*
@@ -77,31 +74,26 @@ struct TriangleAndVertices
* @param[in] vertices_offset Current number of vertices in the model
* @param tv Triangles and Vertices of the mesh submodels
*/
-unsigned buildMesh (const fcl::Vec3f & scale,
- const aiScene* scene,
- const aiNode* node,
- unsigned vertices_offset,
- TriangleAndVertices & tv);
+void buildMesh (const fcl::Vec3f & scale,
+ const aiScene* scene,
+ unsigned vertices_offset,
+ TriangleAndVertices & tv);
/**
* @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,
+inline void meshFromAssimpScene(
const fcl::Vec3f & scale,
const aiScene* scene,
const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh)
{
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)
@@ -111,13 +103,14 @@ inline void meshFromAssimpScene(const std::string & name,
throw std::runtime_error (error.str ());
}
- buildMesh (scale, scene, scene->mRootNode,
- (unsigned) mesh->num_vertices, tv);
+ buildMesh (scale, scene, (unsigned) mesh->num_vertices, tv);
mesh->addSubModel (tv.vertices_, tv.triangles_);
mesh->endModel ();
}
+} // namespace internal
+
/**
* @brief Read a mesh file and convert it to a polyhedral mesh
*
@@ -130,46 +123,13 @@ inline void loadPolyhedronFromResource (const std::string & resource_path,
const fcl::Vec3f & scale,
const boost::shared_ptr < BVHModel<BoundingVolume> > & polyhedron)
{
- Assimp::Importer importer;
- // set list of ignored parameters (parameters used for rendering)
- importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS,
- aiComponent_TANGENTS_AND_BITANGENTS|
- aiComponent_COLORS |
- aiComponent_BONEWEIGHTS |
- aiComponent_ANIMATIONS |
- aiComponent_LIGHTS |
- aiComponent_CAMERAS|
- aiComponent_TEXTURES |
- aiComponent_TEXCOORDS |
- aiComponent_MATERIALS |
- aiComponent_NORMALS
- );
-
- const aiScene* scene = importer.ReadFile(resource_path.c_str(),
- aiProcess_SortByPType |
- aiProcess_Triangulate |
- aiProcess_RemoveComponent |
- aiProcess_ImproveCacheLocality |
- // TODO: I (Joseph Mirabel) have no idea whether degenerated triangles are
- // properly handled. Enabling aiProcess_FindDegenerates would throw an
- // exception when that happens. Is it too conservative ?
- // aiProcess_FindDegenerates |
- aiProcess_JoinIdenticalVertices
- );
-
- if (!scene)
- {
- const std::string exception_message (std::string ("Could not load resource ") + resource_path + std::string("\n") +
- importer.GetErrorString () + std::string("\n") +
- "Hint: the mesh directory may be wrong.");
- throw std::invalid_argument(exception_message);
- }
-
- meshFromAssimpScene (resource_path, scale, scene, polyhedron);
-}
+ internal::Loader scene;
+ scene.load (resource_path);
+ internal::meshFromAssimpScene (scale, scene.scene, polyhedron);
}
+} // namespace fcl
} // namespace hpp
-#endif // FCL_MESH_LOADER_ASSIMP_H
+#endif // HPP_FCL_MESH_LOADER_ASSIMP_H
diff --git a/src/BVH/BVH_model.cpp b/src/BVH/BVH_model.cpp
index 58ab55200a01cdbc29b3fc03ff554a8264ca1316..7fabab7b61ed40161b12597878c6ff0b8cd7053f 100644
--- a/src/BVH/BVH_model.cpp
+++ b/src/BVH/BVH_model.cpp
@@ -47,7 +47,6 @@ namespace fcl
template<typename BV>
BVHModel<BV>::BVHModel(const BVHModel<BV>& other) : CollisionGeometry(other),
- boost::noncopyable(),
num_tris(other.num_tris),
num_vertices(other.num_vertices),
build_state(other.build_state),
diff --git a/src/mesh_loader/assimp.cpp b/src/mesh_loader/assimp.cpp
index 7e58853a73f8bdf86b1202e1e08b62cb933f3ca8..26d157d8c876bb309b131430209f47442a73f6c2 100644
--- a/src/mesh_loader/assimp.cpp
+++ b/src/mesh_loader/assimp.cpp
@@ -34,16 +34,94 @@
#include <hpp/fcl/mesh_loader/assimp.h>
+#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
+ #include <assimp/DefaultLogger.hpp>
+ #include <assimp/IOStream.hpp>
+ #include <assimp/IOSystem.hpp>
+ #include <assimp/Importer.hpp>
+ #include <assimp/postprocess.h>
+ #include <assimp/scene.h>
+#else
+ #include <assimp/DefaultLogger.h>
+ #include <assimp/assimp.hpp>
+ #include <assimp/IOStream.h>
+ #include <assimp/IOSystem.h>
+ #include <assimp/aiPostProcess.h>
+ #include <assimp/aiScene.h>
+#endif
+
namespace hpp
{
namespace fcl
{
-unsigned buildMesh (const fcl::Vec3f & scale,
- const aiScene* scene,
- const aiNode* node,
- unsigned vertices_offset,
- TriangleAndVertices & tv)
+namespace internal
+{
+
+Loader::Loader () : scene (NULL) {}
+
+Loader::~Loader ()
+{
+ if (scene) delete scene;
+}
+
+void Loader::load (const std::string & resource_path)
+{
+ Assimp::Importer importer;
+ // set list of ignored parameters (parameters used for rendering)
+ importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS,
+ aiComponent_TANGENTS_AND_BITANGENTS|
+ aiComponent_COLORS |
+ aiComponent_BONEWEIGHTS |
+ aiComponent_ANIMATIONS |
+ aiComponent_LIGHTS |
+ aiComponent_CAMERAS|
+ aiComponent_TEXTURES |
+ aiComponent_TEXCOORDS |
+ aiComponent_MATERIALS |
+ aiComponent_NORMALS
+ );
+
+ importer.ReadFile(resource_path.c_str(),
+ aiProcess_SortByPType |
+ aiProcess_Triangulate |
+ aiProcess_RemoveComponent |
+ aiProcess_ImproveCacheLocality |
+ // TODO: I (Joseph Mirabel) have no idea whether degenerated triangles are
+ // properly handled. Enabling aiProcess_FindDegenerates would throw an
+ // exception when that happens. Is it too conservative ?
+ // aiProcess_FindDegenerates |
+ aiProcess_JoinIdenticalVertices
+ );
+
+ scene = importer.GetOrphanedScene();
+ if (!scene)
+ {
+ const std::string exception_message (std::string ("Could not load resource ") + resource_path + std::string("\n") +
+ importer.GetErrorString () + std::string("\n") +
+ "Hint: the mesh directory may be wrong.");
+ throw std::invalid_argument(exception_message);
+ }
+
+ if (!scene->HasMeshes())
+ throw std::invalid_argument (std::string ("No meshes found in file ")+resource_path);
+}
+
+/**
+ * @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[in] vertices_offset Current number of vertices in the model
+ * @param tv Triangles and Vertices of the mesh submodels
+ */
+unsigned recurseBuildMesh (
+ const fcl::Vec3f & scale,
+ const aiScene* scene,
+ const aiNode* node,
+ unsigned vertices_offset,
+ TriangleAndVertices & tv)
{
if (!node) return 0;
@@ -100,12 +178,20 @@ unsigned buildMesh (const fcl::Vec3f & scale,
for (uint32_t i=0; i < node->mNumChildren; ++i)
{
- nbVertices += buildMesh(scale, scene, node->mChildren[i], nbVertices, tv);
+ nbVertices += recurseBuildMesh(scale, scene, node->mChildren[i], nbVertices, tv);
}
return nbVertices;
}
+void buildMesh (const fcl::Vec3f & scale,
+ const aiScene* scene,
+ unsigned vertices_offset,
+ TriangleAndVertices & tv)
+{
+ recurseBuildMesh (scale, scene, scene->mRootNode, vertices_offset, tv);
}
+} // namespace internal
+} // namespace fcl
} // namespace hpp
diff --git a/test/test_fcl_collision.cpp b/test/test_fcl_collision.cpp
index 2330248b60a98519ab5afbb4562c78d7aae75562..6b9f29c92501b3900f799dcd519bceb9de53e646 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/test_fcl_collision.cpp
@@ -918,7 +918,7 @@ bool collide_Test(const Transform3f& tf,
MeshCollisionTraversalNode<BV> node (request);
bool success = initialize <BV> (node, m1, pose1, m2, pose2, local_result);
- assert (success);
+ BOOST_REQUIRE (success);
node.enable_statistics = verbose;