/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ply/mesh_loader.cpp

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#include "mesh_loader.h"

#include "debug.h"

const char *elem_names[] = { /* list of the kinds of elements in the user's object */
  "vertex", "face"
};

PlyProperty vert_props[] = { /* list of property information for a vertex */
  {"x", Float32, Float32, offsetof(Vertex,x), 0, 0, 0, 0},
  {"y", Float32, Float32, offsetof(Vertex,y), 0, 0, 0, 0},
  {"z", Float32, Float32, offsetof(Vertex,z), 0, 0, 0, 0},
};

PlyProperty face_props[] = { /* list of property information for a face */
  {"vertex_indices", Int32, Int32, offsetof(Face,verts),
   1, Uint8, Uint8, offsetof(Face,nverts)},
};


inline void PLYModelLoader::endian_swap(void* p)
{
        unsigned int* x = (unsigned int*)p;

        *x = (*x>>24) |
                        ((*x<<8) & 0x00FF0000) |
                        ((*x>>8) & 0x0000FF00) |
                        (*x<<24);
}


int PLYModelLoader::readFromFile(const string& filename, std::vector<position> &vertices, 
                                 std::vector<int> &triangles)
{
        DBGA("Loading mesh file: " << filename);
        int i,j;
        int elem_count;
        char *elem_name;

        /*** Read in the original PLY object ***/
        vertices.clear();
        triangles.clear();

        FILE* fin = fopen(filename.c_str(), "rb");

        if (fin==NULL)  {
                DBGA("Cannot read file: " << filename);
                return -1;
        }

        in_ply = read_ply (fin);

        float version;
        int file_type;
        get_info_ply(in_ply, &version, &file_type);

        /* examine each element type that is in the file (vertex, face) */

        for (i = 0; i < in_ply->num_elem_types; i++) {

                /* prepare to read the i'th list of elements */
                elem_name = setup_element_read_ply (in_ply, i, &elem_count);

                if (equal_strings ((char*)"vertex", elem_name)) {
                        nverts = elem_count;
                        vertices.reserve(nverts);

                        /* set up for getting vertex elements */
                        /* (we want x,y,z) */

                        setup_property_ply (in_ply, &vert_props[0]);
                        setup_property_ply (in_ply, &vert_props[1]);
                        setup_property_ply (in_ply, &vert_props[2]);

                        /* we also want normal information if it is there (nx,ny,nz) */

                        //                    for (j = 0; j < in_ply->elems[i]->nprops; j++) {
                        //                      PlyProperty *prop;
                        //                      prop = in_ply->elems[i]->props[j];
                        //                      if (equal_strings ("nx", prop->name)) {
                        //                        setup_property_ply (in_ply, &vert_props[3]);
                        //                        has_nx = 1;
                        //                      }
                        //                      if (equal_strings ("ny", prop->name)) {
                        //                        setup_property_ply (in_ply, &vert_props[4]);
                        //                        has_ny = 1;
                        //                      }
                        //                      if (equal_strings ("nz", prop->name)) {
                        //                        setup_property_ply (in_ply, &vert_props[5]);
                        //                        has_nz = 1;
                        //                      }
                        //                    }

                        /* also grab anything else that we don't need to know about */

                        vert_other = get_other_properties_ply (in_ply,
                                        offsetof(Vertex,other_props));

                        /* grab the vertex elements*/
                        for (j = 0; j < elem_count; j++) {
                                get_element_ply (in_ply, (void *) &vertex);
                                if (file_type==PLY_BINARY_BE) {
                                        endian_swap(&vertex.x);
                                        endian_swap(&vertex.y);
                                        endian_swap(&vertex.z);
                                }
                                vertices.push_back( position(vertex.x, vertex.y, vertex.z) );
                        }
                }
                else if (equal_strings ((char*)"face", elem_name)) {

                        nfaces = elem_count;
                        triangles.reserve(nfaces*3);

                        /* set up for getting face elements */
                        /* (all we need are vertex indices) */

                        setup_property_ply (in_ply, &face_props[0]);
                        face_other = get_other_properties_ply (in_ply,
                                        offsetof(Face,other_props));

                        /* grab all the face elements and place them in our list */

                        for (j = 0; j < elem_count; j++) {
                                get_element_ply (in_ply, (void *) &face);
                                if (file_type==PLY_BINARY_BE) {
                                        for (int k=0;k<face.nverts;++k) {
                                                endian_swap(&face.verts[k]);
                                        }
                                }


                                if (face.nverts!=3) {
                                        DBGA("Mesh contains non triangle faces!");
                                }
                                else {
                                        triangles.push_back(face.verts[0]);
                                        triangles.push_back(face.verts[1]);
                                        triangles.push_back(face.verts[2]);
                                }
                        }
                }
                else  /* all non-vertex and non-face elements are grabbed here */
                        get_other_element_ply (in_ply);
        }

        close_ply (in_ply);

        DBGA("File contains " << nverts << " vertices and " << nfaces << " faces");
        return 0;
}

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:51 2012