assimp.h

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#ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
#define HPP_FCL_MESH_LOADER_ASSIMP_H
 
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/config.hh>
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BVH/BVH_model.h>
 
struct aiScene;
namespace Assimp {
class Importer;
}
 
namespace hpp {
namespace fcl {
 
namespace internal {
 
struct HPP_FCL_DLLAPI TriangleAndVertices {
  std::vector<fcl::Vec3f> vertices_;
  std::vector<fcl::Triangle> triangles_;
};
 
struct HPP_FCL_DLLAPI Loader {
  Loader();
  ~Loader();
 
  void load(const std::string& resource_path);
 
  Assimp::Importer* importer;
  aiScene const* scene;
};
 
HPP_FCL_DLLAPI void buildMesh(const fcl::Vec3f& scale, const aiScene* scene,
                              unsigned vertices_offset,
                              TriangleAndVertices& tv);
 
template <class BoundingVolume>
inline void meshFromAssimpScene(
    const fcl::Vec3f& scale, const aiScene* scene,
    const shared_ptr<BVHModel<BoundingVolume> >& mesh) {
  TriangleAndVertices tv;
 
  int res = mesh->beginModel();
 
  if (res != fcl::BVH_OK) {
    HPP_FCL_THROW_PRETTY("fcl BVHReturnCode = " << res, std::runtime_error);
  }
 
  buildMesh(scale, scene, (unsigned)mesh->num_vertices, tv);
  mesh->addSubModel(tv.vertices_, tv.triangles_);
 
  mesh->endModel();
}
 
}  // namespace internal
 
template <class BoundingVolume>
inline void loadPolyhedronFromResource(
    const std::string& resource_path, const fcl::Vec3f& scale,
    const shared_ptr<BVHModel<BoundingVolume> >& polyhedron) {
  internal::Loader scene;
  scene.load(resource_path);
 
  internal::meshFromAssimpScene(scale, scene.scene, polyhedron);
}
 
}  // namespace fcl
}  // namespace hpp
 
#endif  // HPP_FCL_MESH_LOADER_ASSIMP_H