hpp-fcl: include/hpp/fcl/mesh_loader/assimp.h Source File

hpp-fcl 1.7.3 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
59 struct HPP_FCL_DLLAPI TriangleAndVertices
60 {
61 std::vector <fcl::Vec3f> vertices_;
62 std::vector <fcl::Triangle> triangles_;
63 };
64
65 struct HPP_FCL_DLLAPI Loader {
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 {
101 TriangleAndVertices tv;
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
OBBRSS.h
BVH_model.h
hpp::fcl::BVHModel
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:278
fwd.hh
Assimp
Definition: assimp.h:47
hpp::fcl::internal::meshFromAssimpScene
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
hpp::fcl::internal::buildMesh
void buildMesh(const fcl::Vec3f &scale, const aiScene *scene, unsigned vertices_offset, TriangleAndVertices &tv)
Recursive procedure for building a mesh.
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::loadPolyhedronFromResource
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
hpp::fcl::BVH_OK
@ BVH_OK
Definition: BVH_internal.h:65
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::internal::Loader
Definition: assimp.h:65
hpp::fcl::internal::Loader::importer
Assimp::Importer * importer
Definition: assimp.h:71
hpp::fcl::internal::Loader::scene
aiScene const * scene
Definition: assimp.h:72
hpp::fcl::internal::Loader::Loader
Loader()
hpp::fcl::internal::Loader::~Loader
~Loader()
hpp::fcl::internal::Loader::load
void load(const std::string &resource_path)
hpp::fcl::internal::TriangleAndVertices
Definition: assimp.h:60
hpp::fcl::internal::TriangleAndVertices::vertices_
std::vector< fcl::Vec3f > vertices_
Definition: assimp.h:61
hpp::fcl::internal::TriangleAndVertices::triangles_
std::vector< fcl::Triangle > triangles_
Definition: assimp.h:62