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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