coal/mesh_loader/assimp.h

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#ifndef COAL_MESH_LOADER_ASSIMP_H
#define COAL_MESH_LOADER_ASSIMP_H
 
#include "coal/fwd.hh"
#include "coal/config.hh"
#include "coal/BV/OBBRSS.h"
#include "coal/BVH/BVH_model.h"
 
struct aiScene;
namespace Assimp {
class Importer;
}
 
namespace coal {
 
namespace internal {
 
struct COAL_DLLAPI TriangleAndVertices {
  std::vector<coal::Vec3s> vertices_;
  std::vector<coal::Triangle> triangles_;
};
 
struct COAL_DLLAPI Loader {
  Loader();
  ~Loader();
 
  void load(const std::string& resource_path);
 
  Assimp::Importer* importer;
  aiScene const* scene;
};
 
COAL_DLLAPI void buildMesh(const coal::Vec3s& scale, const aiScene* scene,
                           unsigned vertices_offset, TriangleAndVertices& tv);
 
template <class BoundingVolume>
inline void meshFromAssimpScene(
    const coal::Vec3s& scale, const aiScene* scene,
    const shared_ptr<BVHModel<BoundingVolume> >& mesh) {
  TriangleAndVertices tv;
 
  int res = mesh->beginModel();
 
  if (res != coal::BVH_OK) {
    COAL_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 coal::Vec3s& scale,
    const shared_ptr<BVHModel<BoundingVolume> >& polyhedron) {
  internal::Loader scene;
  scene.load(resource_path);
 
  internal::meshFromAssimpScene(scale, scene.scene, polyhedron);
}
 
}  // namespace coal
 
#endif  // COAL_MESH_LOADER_ASSIMP_H