diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 8f0bce65999f345aa8e76a5e73d635332e0ca02c..c769d6781cbdfa86df496e8d1eb904fff6e34afc 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -64,15 +64,25 @@ namespace fcl
struct TriangleAndVertices
{
- void clear()
- {
- vertices_.clear ();
- triangles_.clear ();
- }
std::vector <fcl::Vec3f> vertices_;
std::vector <fcl::Triangle> triangles_;
};
+/**
+ * @brief Recursive procedure for building a mesh
+ *
+ * @param[in] scale Scale to apply when reading the ressource
+ * @param[in] scene Pointer to the assimp scene
+ * @param[in] node Current node of the scene
+ * @param[in] vertices_offset Current number of vertices in the model
+ * @param tv Triangles and Vertices of the mesh submodels
+ */
+unsigned buildMesh (const fcl::Vec3f & scale,
+ const aiScene* scene,
+ const aiNode* node,
+ unsigned vertices_offset,
+ TriangleAndVertices & tv);
+
/**
* @brief Convert an assimp scene to a mesh
*
@@ -92,7 +102,6 @@ inline void meshFromAssimpScene(const std::string & name,
if (!scene->HasMeshes())
throw std::invalid_argument (std::string ("No meshes found in file ")+name);
- std::vector<unsigned> subMeshIndexes;
int res = mesh->beginModel ();
if (res != fcl::BVH_OK)
@@ -102,100 +111,13 @@ inline void meshFromAssimpScene(const std::string & name,
throw std::runtime_error (error.str ());
}
- tv.clear();
-
- buildMesh (scale, scene, scene->mRootNode, subMeshIndexes, mesh, tv);
+ buildMesh (scale, scene, scene->mRootNode,
+ (unsigned) mesh->num_vertices, tv);
mesh->addSubModel (tv.vertices_, tv.triangles_);
mesh->endModel ();
}
-/**
- * @brief Recursive procedure for building a mesh
- *
- * @param[in] scale Scale to apply when reading the ressource
- * @param[in] scene Pointer to the assimp scene
- * @param[in] node Current node of the scene
- * @param subMeshIndexes Submesh triangles indexes interval
- * @param[in] mesh The mesh that must be built
- * @param tv Triangles and Vertices of the mesh submodels
- */
-template<class BoundingVolume>
-inline void buildMesh (const fcl::Vec3f & scale,
- const aiScene* scene,
- const aiNode* node,
- std::vector<unsigned> & subMeshIndexes,
- const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh,
- TriangleAndVertices & tv)
-{
- if (!node) return;
-
- aiMatrix4x4 transform = node->mTransformation;
- aiNode *pnode = node->mParent;
- while (pnode)
- {
- // Don't convert to y-up orientation, which is what the root node in
- // Assimp does
- if (pnode->mParent != NULL)
- {
- transform = pnode->mTransformation * transform;
- }
- pnode = pnode->mParent;
- }
-
- for (uint32_t i = 0; i < node->mNumMeshes; i++)
- {
- aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]];
-
- unsigned oldNbPoints = (unsigned) mesh->num_vertices;
- unsigned oldNbTriangles = (unsigned) mesh->num_tris;
-
- // Add the vertices
- for (uint32_t j = 0; j < input_mesh->mNumVertices; j++)
- {
- aiVector3D p = input_mesh->mVertices[j];
- p *= transform;
- tv.vertices_.push_back (fcl::Vec3f (p.x * scale[0],
- p.y * scale[1],
- p.z * scale[2]));
- }
-
- // add the indices
- for (uint32_t j = 0; j < input_mesh->mNumFaces; j++)
- {
- aiFace& face = input_mesh->mFaces[j];
- if (face.mNumIndices != 3) {
- std::stringstream ss;
-#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
- ss << "Mesh " << input_mesh->mName.C_Str() << " has a face with "
- << face.mNumIndices << " vertices. This is not supported\n";
- ss << "Node name is: " << node->mName.C_Str() << "\n";
-#endif
- ss << "Mesh index: " << i << "\n";
- ss << "Face index: " << j << "\n";
- throw std::invalid_argument (ss.str());
- }
- tv.triangles_.push_back (fcl::Triangle( oldNbPoints + face.mIndices[0],
- oldNbPoints + face.mIndices[1],
- oldNbPoints + face.mIndices[2]));
- }
-
- // Save submesh triangles indexes interval.
- if (subMeshIndexes.size () == 0)
- {
- subMeshIndexes.push_back (0);
- }
-
- subMeshIndexes.push_back (oldNbTriangles + input_mesh->mNumFaces);
- }
-
- for (uint32_t i=0; i < node->mNumChildren; ++i)
- {
- buildMesh(scale, scene, node->mChildren[i], subMeshIndexes, mesh, tv);
- }
-}
-
-
/**
* @brief Read a mesh file and convert it to a polyhedral mesh
*
@@ -209,26 +131,31 @@ inline void loadPolyhedronFromResource (const std::string & resource_path,
const boost::shared_ptr < BVHModel<BoundingVolume> > & polyhedron) throw (std::invalid_argument)
{
Assimp::Importer importer;
- // // set list of ignored parameters (parameters used for rendering)
- // importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS,
- // aiComponent_TANGENTS_AND_BITANGENTS|
- // aiComponent_COLORS |
- // aiComponent_BONEWEIGHTS |
- // aiComponent_ANIMATIONS |
- // aiComponent_LIGHTS |
- // aiComponent_CAMERAS|
- // aiComponent_TEXTURES |
- // aiComponent_TEXCOORDS |
- // aiComponent_MATERIALS |
- // aiComponent_NORMALS
- // );
+ // set list of ignored parameters (parameters used for rendering)
+ importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS,
+ aiComponent_TANGENTS_AND_BITANGENTS|
+ aiComponent_COLORS |
+ aiComponent_BONEWEIGHTS |
+ aiComponent_ANIMATIONS |
+ aiComponent_LIGHTS |
+ aiComponent_CAMERAS|
+ aiComponent_TEXTURES |
+ aiComponent_TEXCOORDS |
+ aiComponent_MATERIALS |
+ aiComponent_NORMALS
+ );
- const aiScene* scene = importer.ReadFile(resource_path.c_str(), aiProcess_SortByPType| aiProcess_GenNormals|
- aiProcess_Triangulate|aiProcess_GenUVCoords|
- aiProcess_FlipUVs);
- // const aiScene* scene = importer.ReadFile(resource_path, aiProcess_SortByPType|
- // aiProcess_Triangulate | aiProcess_RemoveComponent |
- // aiProcess_JoinIdenticalVertices);
+ const aiScene* scene = importer.ReadFile(resource_path.c_str(),
+ aiProcess_SortByPType |
+ aiProcess_Triangulate |
+ aiProcess_RemoveComponent |
+ aiProcess_ImproveCacheLocality |
+ // TODO: I (Joseph Mirabel) have no idea whether degenerated triangles are
+ // properly handled. Enabling aiProcess_FindDegenerates would throw an
+ // exception when that happens. Is it too conservative ?
+ // aiProcess_FindDegenerates |
+ aiProcess_JoinIdenticalVertices
+ );
if (!scene)
{
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c683748b8cfef837c7658e1bae159741ea26d06e..523a1974a7b6655d8b911fb324d678a83c601ba5 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -78,6 +78,7 @@ set(${LIBRARY_NAME}_SOURCES
BVH/BV_splitter.cpp
collision_func_matrix.cpp
collision_utility.cpp
+ mesh_loader/assimp.cpp
mesh_loader/loader.cpp
)
diff --git a/src/mesh_loader/assimp.cpp b/src/mesh_loader/assimp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7e58853a73f8bdf86b1202e1e08b62cb933f3ca8
--- /dev/null
+++ b/src/mesh_loader/assimp.cpp
@@ -0,0 +1,111 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2019, CNRS - LAAS
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Open Source Robotics Foundation nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <hpp/fcl/mesh_loader/assimp.h>
+
+namespace hpp
+{
+namespace fcl
+{
+
+unsigned buildMesh (const fcl::Vec3f & scale,
+ const aiScene* scene,
+ const aiNode* node,
+ unsigned vertices_offset,
+ TriangleAndVertices & tv)
+{
+ if (!node) return 0;
+
+ aiMatrix4x4 transform = node->mTransformation;
+ aiNode *pnode = node->mParent;
+ while (pnode)
+ {
+ // Don't convert to y-up orientation, which is what the root node in
+ // Assimp does
+ if (pnode->mParent != NULL)
+ {
+ transform = pnode->mTransformation * transform;
+ }
+ pnode = pnode->mParent;
+ }
+
+ unsigned nbVertices = 0;
+ for (uint32_t i = 0; i < node->mNumMeshes; i++)
+ {
+ aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]];
+
+ // Add the vertices
+ for (uint32_t j = 0; j < input_mesh->mNumVertices; j++)
+ {
+ aiVector3D p = input_mesh->mVertices[j];
+ p *= transform;
+ tv.vertices_.push_back (fcl::Vec3f (p.x * scale[0],
+ p.y * scale[1],
+ p.z * scale[2]));
+ }
+
+ // add the indices
+ for (uint32_t j = 0; j < input_mesh->mNumFaces; j++)
+ {
+ aiFace& face = input_mesh->mFaces[j];
+ if (face.mNumIndices != 3) {
+ std::stringstream ss;
+#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
+ ss << "Mesh " << input_mesh->mName.C_Str() << " has a face with "
+ << face.mNumIndices << " vertices. This is not supported\n";
+ ss << "Node name is: " << node->mName.C_Str() << "\n";
+#endif
+ ss << "Mesh index: " << i << "\n";
+ ss << "Face index: " << j << "\n";
+ throw std::invalid_argument (ss.str());
+ }
+ tv.triangles_.push_back (fcl::Triangle(vertices_offset + face.mIndices[0],
+ vertices_offset + face.mIndices[1],
+ vertices_offset + face.mIndices[2]));
+ }
+
+ nbVertices += input_mesh->mNumVertices;
+ }
+
+ for (uint32_t i=0; i < node->mNumChildren; ++i)
+ {
+ nbVertices += buildMesh(scale, scene, node->mChildren[i], nbVertices, tv);
+ }
+
+ return nbVertices;
+}
+
+}
+
+} // namespace hpp