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|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2019-2021 CNRS - LAAS, INRIA | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | #if !(__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) | ||
| 36 | #define nullptr NULL | ||
| 37 | #endif | ||
| 38 | #include "coal/mesh_loader/assimp.h" | ||
| 39 | |||
| 40 | // Assimp >= 5.0 is forcing the use of C++11 keywords. A fix has been submitted | ||
| 41 | // https://github.com/assimp/assimp/pull/2758. The next lines fixes the bug for | ||
| 42 | // current version of Coal. | ||
| 43 | #include <assimp/defs.h> | ||
| 44 | #if !(__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) && \ | ||
| 45 | defined(AI_NO_EXCEPT) | ||
| 46 | #undef AI_NO_EXCEPT | ||
| 47 | #define AI_NO_EXCEPT | ||
| 48 | #endif | ||
| 49 | |||
| 50 | #include <assimp/DefaultLogger.hpp> | ||
| 51 | #include <assimp/IOStream.hpp> | ||
| 52 | #include <assimp/IOSystem.hpp> | ||
| 53 | #include <assimp/Importer.hpp> | ||
| 54 | #include <assimp/postprocess.h> | ||
| 55 | #include <assimp/scene.h> | ||
| 56 | |||
| 57 | namespace coal { | ||
| 58 | |||
| 59 | namespace internal { | ||
| 60 | |||
| 61 |
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159 | Loader::Loader() : importer(new Assimp::Importer()) { |
| 62 | // set list of ignored parameters (parameters used for rendering) | ||
| 63 | 159 | importer->SetPropertyInteger( | |
| 64 | AI_CONFIG_PP_RVC_FLAGS, | ||
| 65 | aiComponent_TANGENTS_AND_BITANGENTS | aiComponent_COLORS | | ||
| 66 | aiComponent_BONEWEIGHTS | aiComponent_ANIMATIONS | | ||
| 67 | aiComponent_LIGHTS | aiComponent_CAMERAS | aiComponent_TEXTURES | | ||
| 68 | aiComponent_TEXCOORDS | aiComponent_MATERIALS | aiComponent_NORMALS); | ||
| 69 | |||
| 70 | // remove LINES and POINTS | ||
| 71 | 159 | importer->SetPropertyInteger(AI_CONFIG_PP_SBP_REMOVE, | |
| 72 | aiPrimitiveType_LINE | aiPrimitiveType_POINT); | ||
| 73 | 159 | } | |
| 74 | |||
| 75 | 159 | Loader::~Loader() { | |
| 76 |
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159 | if (importer) delete importer; |
| 77 | 159 | } | |
| 78 | |||
| 79 | 159 | void Loader::load(const std::string& resource_path) { | |
| 80 | 159 | scene = importer->ReadFile( | |
| 81 | resource_path.c_str(), | ||
| 82 | aiProcess_SortByPType | aiProcess_Triangulate | | ||
| 83 | aiProcess_RemoveComponent | aiProcess_ImproveCacheLocality | | ||
| 84 | aiProcess_FindDegenerates | aiProcess_JoinIdenticalVertices); | ||
| 85 | |||
| 86 |
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159 | if (!scene) { |
| 87 | const std::string exception_message( | ||
| 88 | ✗ | std::string("Could not load resource ") + resource_path + | |
| 89 | ✗ | std::string("\n") + importer->GetErrorString() + std::string("\n") + | |
| 90 | ✗ | "Hint: the mesh directory may be wrong."); | |
| 91 | ✗ | COAL_THROW_PRETTY(exception_message.c_str(), std::invalid_argument); | |
| 92 | ✗ | } | |
| 93 | |||
| 94 |
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159 | if (!scene->HasMeshes()) |
| 95 | ✗ | COAL_THROW_PRETTY( | |
| 96 | (std::string("No meshes found in file ") + resource_path).c_str(), | ||
| 97 | std::invalid_argument); | ||
| 98 | 159 | } | |
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Recursive procedure for building a mesh | ||
| 102 | * | ||
| 103 | * @param[in] scale Scale to apply when reading the ressource | ||
| 104 | * @param[in] scene Pointer to the assimp scene | ||
| 105 | * @param[in] node Current node of the scene | ||
| 106 | * @param[in] vertices_offset Current number of vertices in the model | ||
| 107 | * @param tv Triangles and Vertices of the mesh submodels | ||
| 108 | */ | ||
| 109 | 604 | unsigned recurseBuildMesh(const coal::Vec3s& scale, const aiScene* scene, | |
| 110 | const aiNode* node, unsigned vertices_offset, | ||
| 111 | TriangleAndVertices& tv) { | ||
| 112 |
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604 | if (!node) return 0; |
| 113 | |||
| 114 | 604 | aiMatrix4x4 transform = node->mTransformation; | |
| 115 | 604 | aiNode* pnode = node->mParent; | |
| 116 |
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1049 | while (pnode) { |
| 117 | // Don't convert to y-up orientation, which is what the root node in | ||
| 118 | // Assimp does | ||
| 119 |
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445 | if (pnode->mParent != NULL) { |
| 120 | ✗ | transform = pnode->mTransformation * transform; | |
| 121 | } | ||
| 122 | 445 | pnode = pnode->mParent; | |
| 123 | } | ||
| 124 | |||
| 125 | 604 | unsigned nbVertices = 0; | |
| 126 |
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1037 | for (uint32_t i = 0; i < node->mNumMeshes; i++) { |
| 127 | 433 | aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]]; | |
| 128 | |||
| 129 | // Add the vertices | ||
| 130 |
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196784 | for (uint32_t j = 0; j < input_mesh->mNumVertices; j++) { |
| 131 | 196351 | aiVector3D p = input_mesh->mVertices[j]; | |
| 132 |
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196351 | p *= transform; |
| 133 |
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196351 | tv.vertices_.push_back( |
| 134 |
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392702 | coal::Vec3s(p.x * scale[0], p.y * scale[1], p.z * scale[2])); |
| 135 | } | ||
| 136 | |||
| 137 | // add the indices | ||
| 138 |
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220480 | for (uint32_t j = 0; j < input_mesh->mNumFaces; j++) { |
| 139 | 220047 | aiFace& face = input_mesh->mFaces[j]; | |
| 140 |
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220047 | assert(face.mNumIndices == 3 && "The size of the face is not valid."); |
| 141 |
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220047 | tv.triangles_.push_back( |
| 142 | 220047 | coal::Triangle32(vertices_offset + face.mIndices[0], | |
| 143 | 220047 | vertices_offset + face.mIndices[1], | |
| 144 |
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220047 | vertices_offset + face.mIndices[2])); |
| 145 | } | ||
| 146 | |||
| 147 | 433 | nbVertices += input_mesh->mNumVertices; | |
| 148 | } | ||
| 149 | |||
| 150 |
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1049 | for (uint32_t i = 0; i < node->mNumChildren; ++i) { |
| 151 | 445 | nbVertices += | |
| 152 |
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445 | recurseBuildMesh(scale, scene, node->mChildren[i], nbVertices, tv); |
| 153 | } | ||
| 154 | |||
| 155 | 604 | return nbVertices; | |
| 156 | } | ||
| 157 | |||
| 158 | 159 | void buildMesh(const coal::Vec3s& scale, const aiScene* scene, | |
| 159 | unsigned vertices_offset, TriangleAndVertices& tv) { | ||
| 160 | 159 | recurseBuildMesh(scale, scene, scene->mRootNode, vertices_offset, tv); | |
| 161 | 159 | } | |
| 162 | |||
| 163 | } // namespace internal | ||
| 164 | } // namespace coal | ||
| 165 |