hpp-fcl  1.7.2
HPP fork of FCL -- The Flexible Collision Library
assimp.h
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37 
38 #ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
39 #define HPP_FCL_MESH_LOADER_ASSIMP_H
40 
41 #include <hpp/fcl/fwd.hh>
42 #include <hpp/fcl/config.hh>
43 #include <hpp/fcl/BV/OBBRSS.h>
44 #include <hpp/fcl/BVH/BVH_model.h>
45 
46 struct aiScene;
47 namespace Assimp {
48  class Importer;
49 }
50 
51 namespace hpp
52 {
53 namespace fcl
54 {
55 
56 namespace internal
57 {
58 
60 {
61  std::vector <fcl::Vec3f> vertices_;
62  std::vector <fcl::Triangle> triangles_;
63 };
64 
66  Loader ();
67  ~Loader ();
68 
69  void load (const std::string& resource_path);
70 
71  Assimp::Importer* importer;
72  aiScene const* scene;
73 };
74 
83 HPP_FCL_DLLAPI void buildMesh (const fcl::Vec3f & scale,
84  const aiScene* scene,
85  unsigned vertices_offset,
86  TriangleAndVertices & tv);
87 
95 template<class BoundingVolume>
96 inline void meshFromAssimpScene(
97  const fcl::Vec3f & scale,
98  const aiScene* scene,
99  const shared_ptr < BVHModel<BoundingVolume> > & mesh)
100 {
102 
103  int res = mesh->beginModel ();
104 
105  if (res != fcl::BVH_OK)
106  {
107  std::ostringstream error;
108  error << "fcl BVHReturnCode = " << res;
109  throw std::runtime_error (error.str ());
110  }
111 
112  buildMesh (scale, scene, (unsigned) mesh->num_vertices, tv);
113  mesh->addSubModel (tv.vertices_, tv.triangles_);
114 
115  mesh->endModel ();
116 }
117 
118 } // namespace internal
119 
127 template<class BoundingVolume>
128 inline void loadPolyhedronFromResource (const std::string & resource_path,
129  const fcl::Vec3f & scale,
130  const shared_ptr < BVHModel<BoundingVolume> > & polyhedron)
131 {
132  internal::Loader scene;
133  scene.load (resource_path);
134 
135  internal::meshFromAssimpScene (scale, scene.scene, polyhedron);
136 }
137 
138 } // namespace fcl
139 } // namespace hpp
140 
141 #endif // HPP_FCL_MESH_LOADER_ASSIMP_H
Definition: assimp.h:65
Definition: assimp.h:47
Main namespace.
Definition: AABB.h:43
void buildMesh(const fcl::Vec3f &scale, const aiScene *scene, unsigned vertices_offset, TriangleAndVertices &tv)
Recursive procedure for building a mesh.
std::vector< fcl::Triangle > triangles_
Definition: assimp.h:62
void meshFromAssimpScene(const fcl::Vec3f &scale, const aiScene *scene, const shared_ptr< BVHModel< BoundingVolume > > &mesh)
Convert an assimp scene to a mesh.
Definition: assimp.h:96
Definition: BVH_internal.h:65
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:276
aiScene const * scene
Definition: assimp.h:72
std::vector< fcl::Vec3f > vertices_
Definition: assimp.h:61
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
void load(Archive &ar, hpp::fcl::BVSplitter< BV > &splitter_, const unsigned int)
Definition: BV_splitter.h:50
void load(const std::string &resource_path)
void loadPolyhedronFromResource(const std::string &resource_path, const fcl::Vec3f &scale, const shared_ptr< BVHModel< BoundingVolume > > &polyhedron)
Read a mesh file and convert it to a polyhedral mesh.
Definition: assimp.h:128
Assimp::Importer * importer
Definition: assimp.h:71
#define HPP_FCL_DLLAPI
Definition: config.hh:64