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|---|---|---|---|
| 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::Triangle32> 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 | |||
| 94 |
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318 | int res = mesh->beginModel(); |
| 95 | |||
| 96 |
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318 | if (res != coal::BVH_OK) { |
| 97 | ✗ | COAL_THROW_PRETTY("fcl BVHReturnCode = " << res, std::runtime_error); | |
| 98 | } | ||
| 99 | |||
| 100 |
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318 | buildMesh(scale, scene, (unsigned)mesh->num_vertices, tv); |
| 101 |
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318 | mesh->addSubModel(tv.vertices_, tv.triangles_); |
| 102 | |||
| 103 |
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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; |
| 120 |
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318 | scene.load(resource_path); |
| 121 | |||
| 122 |
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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 |