Merge pull request #219 from jcarpent/devel

Assimp - remove useless LINES and POINTS when loading

.github/workflows/macos-linux-conda.yml

+name: Build hpp-fcl for Mac OS X/Linux via Conda
+
+on: [push,pull_request]
+
+jobs:
+  hpp-fcl-conda:
+    name: hpp-fcl on ${{ matrix.os }} with Conda
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu-latest", "macos-latest"]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Checkout submodules
+      run: |
+        git submodule update --init
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        activate-environment: hpp-fcl
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/conda-env.yml
+        python-version: 3.8
+
+    - name: Install cmake and update conda
+      shell: bash -l {0}
+      run: |
+        conda activate hpp-fcl
+        conda install cmake -c main
+        conda install llvm-openmp -c conda-forge
+    
+    - name: Build hpp-fcl
+      shell: bash -l {0}
+      run: |
+        conda activate hpp-fcl
+        echo $CONDA_PREFIX
+        
+        mkdir build
+        cd build
+
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3)
+        make -j2
+        make build_tests
+        export CTEST_OUTPUT_ON_FAILURE=1
+        make test
+        make install
+
+    - name: Uninstall hpp-fcl
+      shell: bash -l {0}
+      run: |
+        cd build
+        make uninstall

cmake @ 3a52692a

-Subproject commit f4997a81cebfa2dfb69733bc088c55688965dfe8
+Subproject commit 3a52692a40839b10f38352c1b06ccfebc0b53f36

include/hpp/fcl/mesh_loader/loader.h

@@ -93,7 +93,7 @@ namespace fcl {
       };
       typedef std::map <Key, BVHModelPtr_t> Cache_t;
 
-      const Cache_t cache () const { return cache_; }
+      const Cache_t & cache () const { return cache_; }
     private:
       Cache_t cache_;
   };

src/mesh_loader/assimp.cpp

 /*
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2019, CNRS - LAAS
+ *  Copyright (c) 2019-2021 CNRS - LAAS, INRIA
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -75,6 +75,10 @@ Loader::Loader () : importer (new Assimp::Importer())
       aiComponent_MATERIALS |
       aiComponent_NORMALS
       );
+  
+  // remove LINES and POINTS
+  importer->SetPropertyInteger(AI_CONFIG_PP_SBP_REMOVE,
+                               aiPrimitiveType_LINE | aiPrimitiveType_POINT);
 
 }
 
@@ -90,10 +94,7 @@ void Loader::load (const std::string & resource_path)
       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_FindDegenerates |
       aiProcess_JoinIdenticalVertices
       );
 
@@ -159,15 +160,7 @@ unsigned recurseBuildMesh (
     for (uint32_t j = 0; j < input_mesh->mNumFaces; j++)
     {
       aiFace& face = input_mesh->mFaces[j];
-      if (face.mNumIndices != 3) {
-        std::stringstream ss;
-        ss << "Mesh " << input_mesh->mName.C_Str() << " has a face with "
-           << face.mNumIndices << " vertices. This is not supported\n";
-        ss << "Node name is: " << node->mName.C_Str() << "\n";
-        ss << "Mesh index: " << i << "\n";
-        ss << "Face index: " << j << "\n";
-        throw std::invalid_argument (ss.str());
-      }
+      assert(face.mNumIndices == 3 && "The size of the face is not valid.");
       tv.triangles_.push_back (fcl::Triangle(vertices_offset + face.mIndices[0],
                                              vertices_offset + face.mIndices[1],
                                              vertices_offset + face.mIndices[2]));

test/bvh_models.cpp

@@ -377,3 +377,14 @@ BOOST_AUTO_TEST_CASE (gerard_bauzil)
   testLoadGerardBauzil<kIOS>();
   testLoadGerardBauzil<OBBRSS>();
 }
+
+
+BOOST_AUTO_TEST_CASE(load_illformated_mesh)
+{
+  boost::filesystem::path path(TEST_RESOURCES_DIR);
+  const std::string filename = (path / "illformated_mesh.dae").string();
+  
+  MeshLoader loader;
+  BOOST_CHECK_NO_THROW(loader.load(filename));
+}
+