diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e91088b8a89ebca26720b8516c565dea58d2dd4..e4cb8af968b668a4de1f40c870d20b08e4bb8d33 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -75,6 +75,16 @@ endif()
# if (${FLANN_FOUND})
# add_definitions(-DFCL_HAVE_FLANN=1)
# endif()
+ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
+if(ASSIMP_FOUND)
+ if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
+ set(FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES 1 )
+ message(STATUS "Assimp version has unified headers")
+ else()
+ set(FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES 0 )
+ message(STATUS "Assimp version does not have unified headers")
+ endif()
+endif()
SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/collision_data.h
@@ -173,6 +183,7 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/eigen/taylor_operator.h
include/hpp/fcl/eigen/plugins/ccd/interval-matrix.h
include/hpp/fcl/eigen/plugins/ccd/interval-vector.h
+ include/hpp/fcl/mesh_loader/assimp.h
)
add_subdirectory(src)
diff --git a/ci/install_linux.sh b/ci/install_linux.sh
index 854587007288a350b1b8c719693383a11ad1bce4..b3d1f9f5b9496b8e29672de664eadbd4f9a44d1f 100755
--- a/ci/install_linux.sh
+++ b/ci/install_linux.sh
@@ -8,6 +8,12 @@ sudo apt-get -qq --yes --force-yes install cmake
sudo apt-get -qq --yes --force-yes install libboost-all-dev
sudo apt-get -qq --yes --force-yes install libccd-dev
+# Assimp
+sudo echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub trusty robotpkg" >> /etc/apt/sources.list.d/robotpkg.list
+curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+sudo apt-get update
+sudo apt-get install robotpkg-assimp
+
########################
# Optional dependencies
########################
@@ -22,3 +28,4 @@ cd build
cmake ..
make
sudo make install
+
diff --git a/include/hpp/fcl/config-fcl.hh.in b/include/hpp/fcl/config-fcl.hh.in
index e8a2448f228a288f0ec446edacfa5bb81fe23a6c..203fed30331bc00ccd46072722f26ae050069176 100644
--- a/include/hpp/fcl/config-fcl.hh.in
+++ b/include/hpp/fcl/config-fcl.hh.in
@@ -43,6 +43,7 @@
#cmakedefine01 FCL_HAVE_OCTOMAP
#cmakedefine01 FCL_HAVE_FLANN
#cmakedefine01 FCL_HAVE_TINYXML
+#cmakedefine01 FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
#endif // FCL_CONFIG_FCL_HH
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
new file mode 100644
index 0000000000000000000000000000000000000000..a4b5d8c50fd2ee1770a9d81874a0f95180318cd1
--- /dev/null
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -0,0 +1,244 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011-2014, Willow Garage, Inc.
+ * Copyright (c) 2014-2015, Open Source Robotics Foundation
+ * Copyright (c) 2016, 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.
+ */
+
+#ifndef FCL_MESH_LOADER_ASSIMP_H
+#define FCL_MESH_LOADER_ASSIMP_H
+
+#include <hpp/fcl/config-fcl.hh>
+
+#if FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
+#include <assimp/DefaultLogger.hpp>
+#include <assimp/IOStream.hpp>
+#include <assimp/IOSystem.hpp>
+#include <assimp/scene.h>
+#include <assimp/Importer.hpp>
+#include <assimp/postprocess.h>
+ #else
+#include <assimp/DefaultLogger.h>
+#include <assimp/assimp.hpp>
+#include <assimp/IOStream.h>
+#include <assimp/IOSystem.h>
+#include <assimp/aiScene.h>
+#include <assimp/aiPostProcess.h>
+#endif
+
+#include <hpp/fcl/BV/OBBRSS.h>
+#include <hpp/fcl/BVH/BVH_model.h>
+
+namespace fcl
+{
+
+
+struct TriangleAndVertices
+{
+ void clear()
+ {
+ vertices_.clear ();
+ triangles_.clear ();
+ }
+ std::vector <fcl::Vec3f> vertices_;
+ std::vector <fcl::Triangle> triangles_;
+};
+
+/**
+ * @brief Convert an assimp scene to a mesh
+ *
+ * @param[in] name File (ressource) transformed into an assimp scene in loa
+ * @param[in] scale Scale to apply when reading the ressource
+ * @param[in] scene Pointer to the assimp scene
+ * @param[out] mesh The mesh that must be built
+ */
+template<class BoundingVolume>
+inline void meshFromAssimpScene(const std::string & name,
+ const fcl::Vec3f & scale,
+ const aiScene* scene,
+ const boost::shared_ptr < BVHModel<BoundingVolume> > & mesh) throw (std::invalid_argument)
+{
+ TriangleAndVertices tv;
+
+ 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)
+ {
+ std::ostringstream error;
+ error << "fcl BVHReturnCode = " << res;
+ throw std::runtime_error (error.str ());
+ }
+
+ tv.clear();
+
+ buildMesh (scale, scene, scene->mRootNode, subMeshIndexes, mesh, 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;
+ 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";
+ 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
+ *
+ * @param[in] resource_path Path to the ressource mesh file to be read
+ * @param[in] scale Scale to apply when reading the ressource
+ * @param[out] polyhedron The resulted polyhedron
+ */
+template<class BoundingVolume>
+inline void loadPolyhedronFromResource (const std::string & resource_path,
+ const fcl::Vec3f & scale,
+ 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
+ // );
+
+ 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);
+
+ if (!scene)
+ {
+ const std::string exception_message (std::string ("Could not load resource ") + resource_path + std::string("\n") +
+ importer.GetErrorString () + std::string("\n") +
+ "Hint: the mesh directory may be wrong.");
+ throw std::invalid_argument(exception_message);
+ }
+
+ meshFromAssimpScene (resource_path, scale, scene, polyhedron);
+}
+
+}
+
+#endif // FCL_MESH_LOADER_ASSIMP_H
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2cbf558ef7c3baf7c2ed423da4de82fa241e66d8..3cfc6fdd99751a029d4d2536178d447be656da5c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -102,6 +102,7 @@ add_library(${LIBRARY_NAME}
)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} ccd)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} assimp)
IF(OCTOMAP_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
ENDIF(OCTOMAP_FOUND)