hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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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>
45
46struct aiScene;
47namespace Assimp {
48 class Importer;
49}
50
51namespace hpp
52{
53namespace fcl
54{
55
56namespace internal
57{
58
60{
61 std::vector <fcl::Vec3f> vertices_;
62 std::vector <fcl::Triangle> triangles_;
63};
64
68
69 void load (const std::string& resource_path);
70
71 Assimp::Importer* importer;
72 aiScene const* scene;
73};
74
84 const aiScene* scene,
85 unsigned vertices_offset,
87
95template<class BoundingVolume>
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
127template<class BoundingVolume>
128inline 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
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:278
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Definition: assimp.h:47
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
void buildMesh(const fcl::Vec3f &scale, const aiScene *scene, unsigned vertices_offset, TriangleAndVertices &tv)
Recursive procedure for building a mesh.
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
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
@ BVH_OK
Definition: BVH_internal.h:65
Main namespace.
Definition: AABB.h:44
Definition: assimp.h:65
Assimp::Importer * importer
Definition: assimp.h:71
aiScene const * scene
Definition: assimp.h:72
void load(const std::string &resource_path)
std::vector< fcl::Vec3f > vertices_
Definition: assimp.h:61
std::vector< fcl::Triangle > triangles_
Definition: assimp.h:62