diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index d8732085982839697e316480c8e2d14c196ca709..9a54415a68cb20628e079ead110cfd4e3cf32993 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/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
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