coal 3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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assimp.h
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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
46struct aiScene;
47namespace Assimp {
48class Importer;
49}
50
51namespace coal {
52
53namespace internal {
54
56 std::vector<coal::Vec3s> vertices_;
57 std::vector<coal::Triangle32> triangles_;
58};
59
63
64 void load(const std::string& resource_path);
65
66 Assimp::Importer* importer;
67 aiScene const* scene;
68};
69
78COAL_DLLAPI void buildMesh(const coal::Vec3s& scale, const aiScene* scene,
79 unsigned vertices_offset, TriangleAndVertices& tv);
80
88template <class BoundingVolume>
90 const coal::Vec3s& scale, const aiScene* scene,
91 const shared_ptr<BVHModel<BoundingVolume> >& mesh) {
93
94 int res = mesh->beginModel();
95
96 if (res != coal::BVH_OK) {
97 COAL_THROW_PRETTY("fcl BVHReturnCode = " << res, std::runtime_error);
98 }
99
100 buildMesh(scale, scene, (unsigned)mesh->num_vertices, tv);
101 mesh->addSubModel(tv.vertices_, tv.triangles_);
102
103 mesh->endModel();
104}
105
106} // namespace internal
107
115template <class BoundingVolume>
117 const std::string& resource_path, const coal::Vec3s& scale,
118 const shared_ptr<BVHModel<BoundingVolume> >& polyhedron) {
119 internal::Loader scene;
120 scene.load(resource_path);
121
122 internal::meshFromAssimpScene(scale, scene.scene, polyhedron);
123}
124
125} // namespace coal
126
127#endif // COAL_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:326
#define COAL_DLLAPI
Definition config.hh:88
#define COAL_THROW_PRETTY(message, exception)
Definition fwd.hh:64
Definition assimp.h:47
void meshFromAssimpScene(const coal::Vec3s &scale, const aiScene *scene, const shared_ptr< BVHModel< BoundingVolume > > &mesh)
Convert an assimp scene to a mesh.
Definition assimp.h:89
void buildMesh(const coal::Vec3s &scale, const aiScene *scene, unsigned vertices_offset, TriangleAndVertices &tv)
Recursive procedure for building a mesh.
Main namespace.
Definition broadphase_bruteforce.h:44
Eigen::Matrix< Scalar, 3, 1 > Vec3s
Definition data_types.h:70
void loadPolyhedronFromResource(const std::string &resource_path, const coal::Vec3s &scale, const shared_ptr< BVHModel< BoundingVolume > > &polyhedron)
Read a mesh file and convert it to a polyhedral mesh.
Definition assimp.h:116
@ BVH_OK
Definition BVH_internal.h:64
Definition assimp.h:60
Assimp::Importer * importer
Definition assimp.h:66
aiScene const * scene
Definition assimp.h:67
void load(const std::string &resource_path)
std::vector< coal::Vec3s > vertices_
Definition assimp.h:56
std::vector< coal::Triangle32 > triangles_
Definition assimp.h:57