[Assimp] Split declaration and definition

include/hpp/fcl/mesh_loader/assimp.h

@@ -82,72 +82,11 @@ struct TriangleAndVertices
  * @param[in]  vertices_offset Current number of vertices in the model
  * @param      tv              Triangles and Vertices of the mesh submodels
  */
-inline 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;
-}
+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

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
   )
 

src/mesh_loader/assimp.cpp

+/*
+ * 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