GCC Code Coverage Report

Directory: ./
File: include/coal/mesh_loader/assimp.h
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 13 14 92.9%
Branches: 8 48 16.7%
Line Branch Exec Source
1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * Copyright (c) 2016-2019, CNRS - LAAS
7 * Copyright (c) 2019, INRIA
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of Open Source Robotics Foundation nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 */
37
38 #ifndef COAL_MESH_LOADER_ASSIMP_H
39 #define COAL_MESH_LOADER_ASSIMP_H
40
41 #include "coal/fwd.hh"
42 #include "coal/config.hh"
43 #include "coal/BV/OBBRSS.h"
44 #include "coal/BVH/BVH_model.h"
45
46 struct aiScene;
47 namespace Assimp {
48 class Importer;
49 }
50
51 namespace coal {
52
53 namespace internal {
54
55 struct COAL_DLLAPI TriangleAndVertices {
56 std::vector<coal::Vec3s> vertices_;
57 std::vector<coal::Triangle> triangles_;
58 };
59
60 struct COAL_DLLAPI Loader {
61 Loader();
62 ~Loader();
63
64 void load(const std::string& resource_path);
65
66 Assimp::Importer* importer;
67 aiScene const* scene;
68 };
69
70 /**
71 * @brief Recursive procedure for building a mesh
72 *
73 * @param[in] scale Scale to apply when reading the ressource
74 * @param[in] scene Pointer to the assimp scene
75 * @param[in] vertices_offset Current number of vertices in the model
76 * @param tv Triangles and Vertices of the mesh submodels
77 */
78 COAL_DLLAPI void buildMesh(const coal::Vec3s& scale, const aiScene* scene,
79 unsigned vertices_offset, TriangleAndVertices& tv);
80
81 /**
82 * @brief Convert an assimp scene to a mesh
83 *
84 * @param[in] scale Scale to apply when reading the ressource
85 * @param[in] scene Pointer to the assimp scene
86 * @param[out] mesh The mesh that must be built
87 */
88 template <class BoundingVolume>
89 318 inline void meshFromAssimpScene(
90 const coal::Vec3s& scale, const aiScene* scene,
91 const shared_ptr<BVHModel<BoundingVolume> >& mesh) {
92 318 TriangleAndVertices tv;
93
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 318 int res = mesh->beginModel();
95
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 318 if (res != coal::BVH_OK) {
97 ✗ COAL_THROW_PRETTY("fcl BVHReturnCode = " << res, std::runtime_error);
98 }
99
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 318 buildMesh(scale, scene, (unsigned)mesh->num_vertices, tv);
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 318 mesh->addSubModel(tv.vertices_, tv.triangles_);
102
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 318 mesh->endModel();
104 318 }
105
106 } // namespace internal
107
108 /**
109 * @brief Read a mesh file and convert it to a polyhedral mesh
110 *
111 * @param[in] resource_path Path to the ressource mesh file to be read
112 * @param[in] scale Scale to apply when reading the ressource
113 * @param[out] polyhedron The resulted polyhedron
114 */
115 template <class BoundingVolume>
116 318 inline void loadPolyhedronFromResource(
117 const std::string& resource_path, const coal::Vec3s& scale,
118 const shared_ptr<BVHModel<BoundingVolume> >& polyhedron) {
119
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 318 internal::Loader scene;
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 318 scene.load(resource_path);
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 318 internal::meshFromAssimpScene(scale, scene.scene, polyhedron);
123 318 }
124
125 } // namespace coal
126
127 #endif // COAL_MESH_LOADER_ASSIMP_H
128