diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index 2fdd7e62fe117feb855ea599b9563ab8eebae667..32faa086c6c28d543b40ec9f5d4bbc57520b5a66 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -67,6 +67,8 @@ endif ()
##########################################
#### VISUALIZATION Coin3D+Qt+SoQt / OSG+Qt
+find_package(assimp REQUIRED)
+target_link_libraries(VirtualRobot PUBLIC assimp)
if (Simox_USE_COIN_VISUALIZATION)
MESSAGE(STATUS "Searching Coin3D, Qt and SoQt...")
@@ -260,7 +262,7 @@ SET(SOURCES
Import/RobotImporterFactory.cpp
Import/SimoxXMLFactory.cpp
- Import/MeshImport/STLReader.cpp
+ Import/MeshImport/AssimpReader.cpp
math/AbstractFunctionR1R2.cpp
math/AbstractFunctionR1R3.cpp
@@ -462,7 +464,7 @@ SET(INCLUDES
Import/RobotImporterFactory.h
Import/SimoxXMLFactory.h
- Import/MeshImport/STLReader.h
+ Import/MeshImport/AssimpReader.h
math/AbstractFunctionR1Ori.h
math/AbstractFunctionR1R2.h
diff --git a/VirtualRobot/Import/MeshImport/AssimpReader.cpp b/VirtualRobot/Import/MeshImport/AssimpReader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3ca0e3c99483033bb6a37126568beb9ec1f1a52a
--- /dev/null
+++ b/VirtualRobot/Import/MeshImport/AssimpReader.cpp
@@ -0,0 +1,161 @@
+#include "AssimpReader.h"
+#include <VirtualRobot/Visualization/TriMeshModel.h>
+
+#include <assimp/Importer.hpp>
+#include <assimp/scene.h>
+#include <assimp/postprocess.h>
+#include <assimp/material.h>
+
+namespace VirtualRobot
+{
+ AssimpReader::AssimpReader(float eps, float scaling) :
+ scaling{scaling}, eps{eps}
+ {}
+
+ std::string AssimpReader::get_extensions() const
+ {
+ static const auto extensions = []
+ {
+ const std::string upper =
+ "3D 3DS 3MF AC AC3D ACC AMJ ASE ASK B3D BLEND BVH CMS COB " \
+ "DAE DXF ENFF FBX LWO LWS LXO MD2 MD3 MD5 MDC MDL MESH MOT " \
+ "MS3D NDO NFF OBJ OFF OGEX PLY PMX PRJ Q3O Q3S RAW SCN SIB " \
+ "SMD STP STL STLA STLB TER UC VTA X X3D XGL ZGL";
+ std::string both = upper + upper;
+ std::transform(
+ both.begin(), both.begin() + upper.size(), both.begin(),
+ [](unsigned char c)
+ {
+ return std::tolower(c);
+ }
+ );
+ return both;
+ }();
+ return extensions;
+ }
+
+ bool AssimpReader::read(const std::string& filename, const TriMeshModelPtr& t)
+ {
+ //code adapted from http://assimp.sourceforge.net/lib_html/usage.html
+ Assimp::Importer importer;
+ // And have it read the given file with some example postprocessing
+ // Usually - if speed is not the most important aspect for you - you'll
+ // propably to request more postprocessing than we do in this example.
+ const aiScene* scene = importer.ReadFile(
+ filename,
+ aiProcess_JoinIdenticalVertices |
+ aiProcess_Triangulate |
+ aiProcess_GenSmoothNormals |
+ aiProcess_SortByPType
+ );
+ return read(scene, t, filename);
+ }
+ bool AssimpReader::readFromBuffer(const std::string_view& v, const TriMeshModelPtr& t)
+ {
+ //code adapted from http://assimp.sourceforge.net/lib_html/usage.html
+ Assimp::Importer importer;
+ // And have it read the given file with some example postprocessing
+ // Usually - if speed is not the most important aspect for you - you'll
+ // propably to request more postprocessing than we do in this example.
+ const aiScene* scene = importer.ReadFileFromMemory(
+ v.data(), v.size(),
+ aiProcess_JoinIdenticalVertices |
+ aiProcess_Triangulate |
+ aiProcess_GenSmoothNormals |
+ aiProcess_SortByPType
+ );
+ return read(scene, t, "");
+ }
+
+ void AssimpReader::set_epsilon(float _eps)
+ {
+ eps = _eps;
+ }
+
+ float AssimpReader::epsilon() const
+ {
+ return eps;
+ }
+
+ void AssimpReader::setScaling(float s)
+ {
+ scaling = s;
+ }
+
+ bool AssimpReader::read(const aiScene* scene, const TriMeshModelPtr& t, const std::string& filename)
+ {
+ if (!t)
+ {
+ VR_ERROR << "Tri mesh is null\n";
+ return false;
+ }
+ if (!scene)
+ {
+ VR_ERROR << "unable to load the file '" << filename << "'\n";
+ return false;
+ }
+ if (!scene->mRootNode)
+ {
+ VR_ERROR << "mesh from '" << filename << "' has no root node\n";
+ return false;
+ }
+ if (scene->mNumMeshes != 1)
+ {
+ VR_ERROR << "mesh from '" << filename << "' has not exactly one mesh\n";
+ return false;
+ }
+ if (!scene->mMeshes[0])
+ {
+ VR_ERROR << "mesh from '" << filename << "' is null\n";
+ return false;
+ }
+
+ const aiMesh& m = *(scene->mMeshes[0]);
+ if (!(m.mVertices && m.mNumVertices))
+ {
+ VR_ERROR << "mesh from '" << filename << "' has no vertices\n";
+ return false;
+ }
+ if (!(m.mFaces && m.mNumFaces))
+ {
+ VR_ERROR << "mesh from '" << filename << "' has no vertices\n";
+ return false;
+ }
+ if (!m.mNormals)
+ {
+ VR_ERROR << "mesh from '" << filename << "' has no normals (and none were generated when loading it)\n";
+ return false;
+ }
+
+ t->clear();
+ for (unsigned i = 0; i < m.mNumVertices; ++i)
+ {
+ const auto& v = m.mVertices[i];
+ const auto& n = m.mNormals[i];
+ t->addVertex({v.x, v.y, v.z});
+ t->addNormal({n.x, n.y, n.z});
+ }
+ for (unsigned i = 0; i < m.mNumFaces; ++i)
+ {
+ const auto& f = m.mFaces[i];
+ if (f.mNumIndices != 3)
+ {
+ VR_ERROR << "mesh from '" << filename << "' has face (# " << i << ") with the wrong number of vertices\n";
+ return false;
+ }
+ MathTools::TriangleFace fc;
+ fc.id1 = f.mIndices[0];
+ fc.id2 = f.mIndices[1];
+ fc.id3 = f.mIndices[2];
+ fc.idNormal1 = f.mIndices[0];
+ fc.idNormal2 = f.mIndices[1];
+ fc.idNormal3 = f.mIndices[2];
+ t->addFace(fc);
+ }
+
+ t->scale(scaling);
+ t->mergeVertices(eps);
+ return true;
+ }
+}
+
diff --git a/VirtualRobot/Import/MeshImport/AssimpReader.h b/VirtualRobot/Import/MeshImport/AssimpReader.h
new file mode 100644
index 0000000000000000000000000000000000000000..8bc8549c7b28facb74aef06bac86feb5f2f1c9f8
--- /dev/null
+++ b/VirtualRobot/Import/MeshImport/AssimpReader.h
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <stdio.h>
+#include <string>
+
+struct aiScene;
+
+namespace VirtualRobot
+{
+ class VIRTUAL_ROBOT_IMPORT_EXPORT AssimpReader
+ {
+ public:
+ AssimpReader(float eps = FLT_MIN, float scaling = 1);
+ virtual ~AssimpReader() = default;
+
+ std::string get_description() const
+ {
+ return "Open Asset Import Library";
+ }
+ std::string get_extensions() const;
+
+ // read data and store it to trimesh
+ bool read(const std::string& _filename, const TriMeshModelPtr& t);
+ bool readFromBuffer(const std::string_view& v, const TriMeshModelPtr& t);
+
+ /** Set the threshold to be used for considering two point to be equal.
+ Can be used to merge small gaps */
+ void set_epsilon(float _eps);
+
+ /// Returns the threshold to be used for considering two point to be equal.
+ float epsilon() const;
+
+ void setScaling(float s);
+ private:
+ bool read(const aiScene* scene, const TriMeshModelPtr& t, const std::string& filename);
+ float scaling;
+ float eps;
+ };
+
+ typedef boost::shared_ptr<AssimpReader> AssimpReaderPtr;
+}
+
diff --git a/VirtualRobot/Import/MeshImport/STLReader.cpp b/VirtualRobot/Import/MeshImport/STLReader.cpp
deleted file mode 100644
index 39021a47214b65fffe491e3216e5156cf4236444..0000000000000000000000000000000000000000
--- a/VirtualRobot/Import/MeshImport/STLReader.cpp
+++ /dev/null
@@ -1,616 +0,0 @@
-/*===========================================================================*\
- * *
- * OpenMesh *
- * Copyright (C) 2001-2014 by Computer Graphics Group, RWTH Aachen *
- * www.openmesh.org *
- * *
- *---------------------------------------------------------------------------*
- * This file is part of OpenMesh. *
- * *
- * OpenMesh is free software: you can redistribute it and/or modify *
- * it under the terms of the GNU Lesser General Public License as *
- * published by the Free Software Foundation, either version 3 of *
- * the License, or (at your option) any later version with the *
- * following exceptions: *
- * *
- * If other files instantiate templates or use macros *
- * or inline functions from this file, or you compile this file and *
- * link it with other files to produce an executable, this file does *
- * not by itself cause the resulting executable to be covered by the *
- * GNU Lesser General Public License. This exception does not however *
- * invalidate any other reasons why the executable file might be *
- * covered by the GNU Lesser General Public License. *
- * *
- * OpenMesh is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
- * GNU Lesser General Public License for more details. *
- * *
- * You should have received a copy of the GNU LesserGeneral Public *
- * License along with OpenMesh. If not, *
- * see <http://www.gnu.org/licenses/>. *
- * *
-\*===========================================================================*/
-
-
-
-#include "STLReader.h"
-#include <VirtualRobot/XML/BaseIO.h>
-#include <VirtualRobot/Visualization/TriMeshModel.h>
-
-// STL
-#include <map>
-
-#include <cfloat>
-#include <fstream>
-#include <stdexcept>
-#include <string>
-
-namespace VirtualRobot
-{
-
-
-
- STLReader::
- STLReader()
- : eps_(FLT_MIN)
- {
- scaling = 1.0f;
- }
-
-
- //-----------------------------------------------------------------------------
-
-
- bool
- STLReader::
- read(const std::string& _filename, TriMeshModelPtr t)
- {
- bool result = false;
-
- STL_Type file_type = NONE;
-
- if (_filename.length() >= 4)
- {
- std::string ending = _filename.substr(_filename.length() - 4, 4);
- BaseIO::getLowerCase(ending);
-
- if (ending == ".stl")
- {
- file_type = check_stl_type(_filename);
- }
- else if (ending == "stla")
- {
- file_type = STLA;
- }
- else if (ending == "stlb")
- {
- file_type = STLB;
- }
- }
-
- switch (file_type)
- {
- case STLA:
- {
- result = read_stla(_filename, t);
- break;
- }
-
- case STLB:
- {
- result = read_stlb(_filename, t);
- break;
- }
-
- default:
- {
- result = false;
- break;
- }
- }
-
-
- return result;
- }
-
- bool
- STLReader::read(std::istream& _is, STL_Type stltype, TriMeshModelPtr t)
- {
-
- bool result = false;
-
- if (stltype == STLB)
- {
- result = read_stlb(_is, t);
- }
- else
- {
- result = read_stla(_is, t);
- }
-
- return result;
- }
-
-
- //-----------------------------------------------------------------------------
-
-
-#ifndef DOXY_IGNORE_THIS
-
- class CmpVec
- {
- public:
-
- CmpVec(float _eps = FLT_MIN) : eps_(_eps) {}
-
- bool operator()(const Eigen::Vector3f& _v0, const Eigen::Vector3f& _v1) const
- {
- if (fabs(_v0[0] - _v1[0]) <= eps_)
- {
- if (fabs(_v0[1] - _v1[1]) <= eps_)
- {
- return (_v0[2] < _v1[2] - eps_);
- }
- else
- {
- return (_v0[1] < _v1[1] - eps_);
- }
- }
- else
- {
- return (_v0[0] < _v1[0] - eps_);
- }
- }
-
- private:
- float eps_;
- };
-
-#endif
-
-
- //-----------------------------------------------------------------------------
-
- void trimStdString(std::string& _string)
- {
- // Trim Both leading and trailing spaces
-
- size_t start = _string.find_first_not_of(" \t\r\n");
- size_t end = _string.find_last_not_of(" \t\r\n");
-
- if ((std::string::npos == start) || (std::string::npos == end))
- {
- _string = "";
- }
- else
- {
- _string = _string.substr(start, end - start + 1);
- }
- }
-
- //-----------------------------------------------------------------------------
-
- bool
- STLReader::
- read_stla(const std::string& _filename, TriMeshModelPtr t) const
- {
- std::fstream in(_filename.c_str(), std::ios_base::in);
-
- if (!in)
- {
- VR_ERROR << "[STLReader] : cannot not open file "
- << _filename
- << std::endl;
- return false;
- }
-
- bool res = read_stla(in, t);
-
- if (in)
- {
- in.close();
- }
-
- return res;
- }
-
- //-----------------------------------------------------------------------------
-
- bool
- STLReader::
- read_stla(std::istream& _in, TriMeshModelPtr t) const
- {
-
- if (!t)
- {
- return false;
- }
-
- unsigned int i;
- Eigen::Vector3f v;
- Eigen::Vector3f n;
- std::vector<unsigned int> vhandles;
-
- CmpVec comp(eps_);
- std::map<Eigen::Vector3f, unsigned int, CmpVec> vMap(comp);
- std::map<Eigen::Vector3f, unsigned int, CmpVec>::iterator vMapIt;
-
- std::string line;
-
- bool facet_normal(false);
-
- while (_in && !_in.eof())
- {
-
- // Get one line
- std::getline(_in, line);
-
- if (_in.bad())
- {
- VR_ERROR << " Warning! Could not read stream properly!\n";
- return false;
- }
-
- // Trim Both leading and trailing spaces
- trimStdString(line);
-
- // Normal found?
- if (line.find("facet normal") != std::string::npos)
- {
- std::stringstream strstream(line);
-
- std::string garbage;
-
- // facet
- strstream >> garbage;
-
- // normal
- strstream >> garbage;
-
- strstream >> n[0];
- strstream >> n[1];
- strstream >> n[2];
-
- facet_normal = true;
- }
-
- // Detected a triangle
- if ((line.find("outer") != std::string::npos) || (line.find("OUTER") != std::string::npos))
- {
-
- vhandles.clear();
-
- for (i = 0; i < 3; ++i)
- {
- // Get one vertex
- std::getline(_in, line);
- trimStdString(line);
-
- std::stringstream strstream(line);
-
- std::string garbage;
- strstream >> garbage;
-
- strstream >> v[0];
- strstream >> v[1];
- strstream >> v[2];
-
- v *= scaling;
-
- // has vector been referenced before?
- if ((vMapIt = vMap.find(v)) == vMap.end())
- {
- // No : add vertex and remember idx/vector mapping
- int handle = int (t->vertices.size());
- t->addVertex(v);//_bi.add_vertex(v);
- vhandles.push_back(handle);
- vMap[v] = handle;
- }
- else
- // Yes : get index from map
- {
- vhandles.push_back(vMapIt->second);
- }
- }
-
- // Add face only if it is not degenerated
- if ((vhandles[0] != vhandles[1]) &&
- (vhandles[0] != vhandles[2]) &&
- (vhandles[1] != vhandles[2]))
- {
- MathTools::TriangleFace f;
- f.set(vhandles[0], vhandles[1], vhandles[2]);
-
- if (facet_normal)
- {
- unsigned int noId = t->normals.size();
- t->addNormal(n);
- f.setNormal(noId, noId, noId);
- }
-
- //int fh = int(t->faces.size());
- t->addFace(f);
- //_bi.add_face(vhandles);
- facet_normal = false;
- }
- }
- }
-
- return true;
- }
-
- //-----------------------------------------------------------------------------
-
- bool
- STLReader::
- read_stlb(const std::string& _filename, TriMeshModelPtr t) const
- {
- std::fstream in(_filename.c_str(), std::ios_base::in | std::ios_base::binary);
-
- if (!in)
- {
- VR_ERROR << "[STLReader] : cannot not open file "
- << _filename
- << std::endl;
- return false;
- }
-
- bool res = read_stlb(in, t);
-
- if (in)
- {
- in.close();
- }
-
- return res;
- }
-
- //-----------------------------------------------------------------------------
-
-
-
- float STLReader::read_float(std::istream& _in, bool _swap) const
- {
- union u3
- {
- float f;
- unsigned char c[4];
- } fc;
- _in.read((char*)fc.c, 4);
-
- if (_swap)
- {
- std::swap(fc.c[0], fc.c[3]);
- std::swap(fc.c[1], fc.c[2]);
- }
-
- return fc.f;
- }
-
- int STLReader::read_int(std::istream& _in, bool _swap) const
- {
- union u2
- {
- int i;
- unsigned char c[4];
- } ic;
- _in.read((char*)ic.c, 4);
-
- if (_swap)
- {
- std::swap(ic.c[0], ic.c[3]);
- std::swap(ic.c[1], ic.c[2]);
- }
-
- return ic.i;
- }
-
- bool
- STLReader::
- read_stlb(std::istream& _in, TriMeshModelPtr t) const
- {
- if (!t)
- {
- return false;
- }
-
- char dummy[100];
- bool swapFlag;
- unsigned int i, nT;
- Eigen::Vector3f v, n;
- std::vector<unsigned int> vhandles;
-
-
- std::map<Eigen::Vector3f, unsigned int, CmpVec> vMap;
- std::map<Eigen::Vector3f, unsigned int, CmpVec>::iterator vMapIt;
-
-
- // check size of types
- if ((sizeof(float) != 4) || (sizeof(int) != 4))
- {
- VR_ERROR << "[STLReader] : wrong type size\n";
- return false;
- }
-
- // determine endian mode
- union
- {
- unsigned int i;
- unsigned char c[4];
- } endian_test;
- endian_test.i = 1;
- swapFlag = (endian_test.c[3] == 1);
-
- // read number of triangles
- _in.read(dummy, 80);
- nT = read_int(_in, swapFlag);
-
- // read triangles
- while (nT)
- {
- vhandles.clear();
-
- // read triangle normal
- n[0] = read_float(_in, swapFlag);
- n[1] = read_float(_in, swapFlag);
- n[2] = read_float(_in, swapFlag);
-
- // triangle's vertices
- for (i = 0; i < 3; ++i)
- {
- v[0] = read_float(_in, swapFlag);
- v[1] = read_float(_in, swapFlag);
- v[2] = read_float(_in, swapFlag);
-
- v *= scaling;
-
- // has vector been referenced before?
- if ((vMapIt = vMap.find(v)) == vMap.end())
- {
- // No : add vertex and remember idx/vector mapping
- unsigned int handle = t->vertices.size();
- t->addVertex(v);
- //_bi.add_vertex(v);
- vhandles.push_back(handle);
- vMap[v] = handle;
- }
- else
- // Yes : get index from map
- {
- vhandles.push_back(vMapIt->second);
- }
- }
-
-
- // Add face only if it is not degenerated
- if ((vhandles[0] != vhandles[1]) &&
- (vhandles[0] != vhandles[2]) &&
- (vhandles[1] != vhandles[2]))
- {
- MathTools::TriangleFace f;
- f.set(vhandles[0], vhandles[1], vhandles[2]);
- //if (facet_normal) {
- unsigned int noId = t->normals.size();
- t->addNormal(n);
- f.setNormal(noId, noId, noId);
- //}
- //int fh = int(t->faces.size());
- t->addFace(f);
- //FaceHandle fh = _bi.add_face(vhandles);
- }
-
- _in.read(dummy, 2);
- --nT;
- }
-
- return true;
- }
-
- //-----------------------------------------------------------------------------
-
- int STLReader::read_int(FILE* _in, bool _swap) const
- {
- union u2
- {
- int i;
- unsigned char c[4];
- } ic;
- if(4 != std::fread((char*)ic.c, 1, 4, _in))
- {
- throw std::runtime_error{__FILE__ " error in line " + std::to_string(__LINE__) + " failed to read 4 bytes."};
- }
-
- if (_swap)
- {
- std::swap(ic.c[0], ic.c[3]);
- std::swap(ic.c[1], ic.c[2]);
- }
-
- return ic.i;
- }
-
- float STLReader::read_float(FILE* _in, bool _swap) const
- {
- union u3
- {
- float f;
- unsigned char c[4];
- } fc;
- if(4 != std::fread((char*)fc.c, 1, 4, _in))
- {
- throw std::runtime_error{__FILE__ " error in line " + std::to_string(__LINE__) + " failed to read 4 bytes."};
- }
-
- if (_swap)
- {
- std::swap(fc.c[0], fc.c[3]);
- std::swap(fc.c[1], fc.c[2]);
- }
-
- return fc.f;
- }
-
- STLReader::STL_Type
- STLReader::
- check_stl_type(const std::string& _filename) const
- {
- // assume it's binary stl, then file size is known from #triangles
- // if size matches, it's really binary
-
- // open file
- FILE* in = fopen(_filename.c_str(), "rb");
-
- if (!in)
- {
- return NONE;
- }
-
- // determine endian mode
- union
- {
- unsigned int i;
- unsigned char c[4];
- } endian_test;
- endian_test.i = 1;
- bool swapFlag = (endian_test.c[3] == 1);
-
- // read number of triangles
- char dummy[100];
- if(80 != std::fread(dummy, 1, 80, in))
- {
- throw std::runtime_error{__FILE__ " error in line " + std::to_string(__LINE__) + " failed to read 80 bytes."};
- }
- size_t nT = read_int(in, swapFlag);
-
-
- // compute file size from nT
- size_t binary_size = 84 + nT * 50;
-
-
- // get actual file size
- size_t file_size(0);
- rewind(in);
-
- while (!feof(in))
- {
- file_size += fread(dummy, 1, 100, in);
- }
-
- fclose(in);
-
-
- // if sizes match -> it's STLB
- return (binary_size == file_size ? STLB : STLA);
- }
-
- void STLReader::setScaling(float s)
- {
- scaling = s;
- }
-
-
-
- //=============================================================================
-} // namespace
-
diff --git a/VirtualRobot/Import/MeshImport/STLReader.h b/VirtualRobot/Import/MeshImport/STLReader.h
deleted file mode 100644
index 5f9ea919c1f5d7d45633b65c1d4fc4f653df6112..0000000000000000000000000000000000000000
--- a/VirtualRobot/Import/MeshImport/STLReader.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- This code was taken from the LGPL project OpenMesh.
- Have a look at www.openmesh.org.
-*/
-
-#pragma once
-
-
-#include "VirtualRobot/VirtualRobot.h"
-
-#include <stdio.h>
-#include <string>
-
-
-namespace VirtualRobot
-{
-
- /**
- Implementation of the STL format reader.
- */
- class VIRTUAL_ROBOT_IMPORT_EXPORT STLReader
- {
- public:
- enum STL_Type { STLA, STLB, NONE };
-
- // constructor
- STLReader();
-
- /// Destructor
- virtual ~STLReader() {};
-
-
- std::string get_description() const
- {
- return "Stereolithography Interface Format";
- }
- std::string get_extensions() const
- {
- return "stl stla stlb";
- }
-
- // read data and store it to trimesh
- bool read(const std::string& _filename, TriMeshModelPtr t);
-
- // read data and store it to trimesh
- bool read(std::istream& _in, STL_Type stltype, TriMeshModelPtr t);
-
- /** Set the threshold to be used for considering two point to be equal.
- Can be used to merge small gaps */
- void set_epsilon(float _eps)
- {
- eps_ = _eps;
- }
-
- /// Returns the threshold to be used for considering two point to be equal.
- float epsilon() const
- {
- return eps_;
- }
-
- void setScaling(float s);
-
- private:
-
- int read_int(FILE* _in, bool _swap) const;
- float read_float(FILE* _in, bool _swap = false) const;
-
- float read_float(std::istream& _in, bool _swap = false) const;
- int read_int(std::istream& _in, bool _swap = false) const;
-
- STL_Type check_stl_type(const std::string& _filename) const;
-
- bool read_stla(const std::string& _filename, TriMeshModelPtr t) const;
- bool read_stla(std::istream& _in, TriMeshModelPtr t) const;
- bool read_stlb(const std::string& _filename, TriMeshModelPtr t) const;
- bool read_stlb(std::istream& _in, TriMeshModelPtr t) const;
-
-
- private:
- float scaling;
- float eps_;
- };
-
- typedef boost::shared_ptr<STLReader> STLReaderPtr;
-}
-
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 4a8f33be77874cd5fc187cdabb0d927c21758ae9..c43c0cafc913ad893bb76eb1d4ebc4ddf9937c85 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -25,7 +25,7 @@
#include "../../Workspace/Reachability.h"
#include "../../Workspace/WorkspaceGrid.h"
#include "../../XML/BaseIO.h"
-#include "../../Import/MeshImport/STLReader.h"
+#include "../../Import/MeshImport/AssimpReader.h"
#include <Inventor/SoDB.h>
#include <Inventor/nodes/SoFile.h>
#include <Inventor/nodes/SoNode.h>
@@ -232,24 +232,23 @@ namespace VirtualRobot
filesystem::path filepath(filename);
- // check for STL file (.stl, .stla, .stlb)
- if (filename.length() >= 4)
+ if (filename.length() >= 3)
{
std::string extension = filepath.extension().string();
BaseIO::getLowerCase(extension);
- if (extension == ".stl" || extension == ".stla" || extension == ".stlb")
+ if (extension == ".iv")
{
- return getVisualizationFromSTLFile(filename, boundingBox, scaleX, scaleY, scaleZ);
- }
- }
+ if (scaleX != 1.0f || scaleY != 1.0f || scaleZ != 1.0f)
+ {
+ VR_WARNING << "Scaling not yet supported for Coin3D files" << endl;
+ }
- if (scaleX != 1.0f || scaleY != 1.0f || scaleZ != 1.0f)
- {
- VR_WARNING << "Scaling not yet supported for Coin3D files" << endl;
+ return getVisualizationFromCoin3DFile(filename, boundingBox);
+ }
}
- return getVisualizationFromCoin3DFile(filename, boundingBox);
+ return getVisualizationFromFileWithAssimp(filename, boundingBox, scaleX, scaleY, scaleZ);
}
VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromCoin3DFile(const std::string& filename, bool boundingBox)
@@ -272,19 +271,19 @@ namespace VirtualRobot
return visualizationNode;
}
- VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromSTLFile(const std::string& filename, bool boundingBox, float scaleX, float scaleY, float scaleZ)
+ VisualizationNodePtr CoinVisualizationFactory::getVisualizationFromFileWithAssimp(const std::string& filename, bool boundingBox, float scaleX, float scaleY, float scaleZ)
{
VisualizationNodePtr visualizationNode(new VisualizationNode);
// try to read from file
TriMeshModelPtr t(new TriMeshModel());
- STLReaderPtr r(new STLReader());
- r->setScaling(1000.0f); // mm
- bool readOK = r->read(filename, t);
+ AssimpReader r;
+ r.setScaling(1000.0f); // mm
+ bool readOK = r.read(filename, t);
if (!readOK)
{
- VR_ERROR << "Could not read stl file " << filename << endl;
+ VR_ERROR << "Could not read file with assimp: " << filename << endl;
return visualizationNode;
}
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
index 90dfc200baa5b33e59c98d79e9f01cd3c830d74e..5073b7b489669e489daa672549f60ba385d364f2 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h
@@ -67,7 +67,7 @@ namespace VirtualRobot
VisualizationNodePtr getVisualizationFromPrimitives(const std::vector<Primitive::PrimitivePtr>& primitives, bool boundingBox = false, Color color = Color::Gray()) override;
VisualizationNodePtr getVisualizationFromFile(const std::string& filename, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f) override;
- virtual VisualizationNodePtr getVisualizationFromSTLFile(const std::string& filename, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f);
+ virtual VisualizationNodePtr getVisualizationFromFileWithAssimp(const std::string& filename, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f);
virtual VisualizationNodePtr getVisualizationFromCoin3DFile(const std::string& filename, bool boundingBox = false);
VisualizationNodePtr getVisualizationFromFile(const std::ifstream& ifs, bool boundingBox = false, float scaleX = 1.0f, float scaleY = 1.0f, float scaleZ = 1.0f) override;
virtual VisualizationNodePtr getVisualizationFromString(const std::string& modelString, bool boundingBox = false);
diff --git a/VirtualRobot/tests/VirtualRobotMeshImportTest.cpp b/VirtualRobot/tests/VirtualRobotMeshImportTest.cpp
index 45a27c38e9d5ff471abc756db9b5a058bd631a66..9b7c1f87857d4f01524005d53619cec99fcde59a 100644
--- a/VirtualRobot/tests/VirtualRobotMeshImportTest.cpp
+++ b/VirtualRobot/tests/VirtualRobotMeshImportTest.cpp
@@ -7,7 +7,7 @@
#define BOOST_TEST_MODULE VirtualRobot_VirtualRobotMeshImportTest
#include <VirtualRobot/VirtualRobotTest.h>
-#include <VirtualRobot/Import/MeshImport/STLReader.h>
+#include <VirtualRobot/Import/MeshImport/AssimpReader.h>
#include <VirtualRobot/Visualization/TriMeshModel.h>
#include <VirtualRobot/RuntimeEnvironment.h>
@@ -108,18 +108,15 @@ BOOST_AUTO_TEST_CASE(testParseSTL)
"endloop\n"
"endfacet\n"
"endsolid\n";
- std::string s(stlcontent);
- istringstream ss(s);
- STLReaderPtr r(new STLReader());
- TriMeshModelPtr t(new TriMeshModel());
- bool readSTLok = r->read(ss, STLReader::STLA, t);
- BOOST_REQUIRE(readSTLok);
- BOOST_REQUIRE(t);
- BOOST_CHECK_EQUAL(t->vertices.size(), 8); // identical vertices are mapped to one vertex instance
- BOOST_CHECK_EQUAL(t->faces.size(), 12);
- BOOST_CHECK_EQUAL(t->vertices.at(0)[0], 0.0f);
- BOOST_CHECK_EQUAL(t->vertices.at(0)[1], 100.0f);
- BOOST_CHECK_EQUAL(t->vertices.at(0)[2], 100.0f);
+
+ TriMeshModelPtr t2(new TriMeshModel());
+ {
+ bool readSTLok = AssimpReader{}.readFromBuffer(stlcontent, t2);
+ BOOST_REQUIRE(readSTLok);
+ BOOST_REQUIRE(t2);
+ BOOST_CHECK_EQUAL(t2->vertices.size(), 8); // identical vertices are mapped to one vertex instance
+ BOOST_CHECK_EQUAL(t2->faces.size(), 12);
+ }
}
BOOST_AUTO_TEST_CASE(testLoadSTL)
@@ -129,13 +126,14 @@ BOOST_AUTO_TEST_CASE(testLoadSTL)
bool fileOK = RuntimeEnvironment::getDataFileAbsolute(filename);
BOOST_REQUIRE(fileOK);
- STLReaderPtr r(new STLReader());
- TriMeshModelPtr t(new TriMeshModel());
- bool readSTLok = r->read(filename, t);
- BOOST_REQUIRE(readSTLok);
- BOOST_REQUIRE(t);
- BOOST_CHECK_GT(int(t->vertices.size()), 20);
- BOOST_CHECK_GT(int(t->faces.size()), 20);
+ TriMeshModelPtr t2(new TriMeshModel());
+ {
+ bool readSTLok = AssimpReader{}.read(filename, t2);
+ BOOST_REQUIRE(readSTLok);
+ BOOST_REQUIRE(t2);
+ BOOST_CHECK_GT(int(t2->vertices.size()), 20);
+ BOOST_CHECK_GT(int(t2->faces.size()), 20);
+ }
}