assimpUtil.h

/*********************************************************************
* Rice University Software Distribution License
*
* Copyright (c) 2010, Rice University
* All Rights Reserved.
*
* For a full description see the file named LICENSE.
*
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPLAPP_GEOMETRY_DETAIL_ASSIMP_UTIL_
#define OMPLAPP_GEOMETRY_DETAIL_ASSIMP_UTIL_
 
#ifdef _WIN32
#include <windows.h>
#endif
 
#include "omplapp/config.h"
#include <assimp/scene.h>
#include <assimp/cimport.h>
#include <assimp/postprocess.h>
#include <ompl/base/spaces/RealVectorBounds.h>
#include <vector>
 
namespace ompl
{
    namespace app
    {
 
 
        namespace scene
        {
 
            void inferBounds(base::RealVectorBounds &bounds, const std::vector<aiVector3D> &vertices, double multiply = 1.1, double add = 0.0);
            void extractTriangles(const aiScene *scene, std::vector<aiVector3D> &triangles);
            void extractVertices(const aiScene *scene, std::vector<aiVector3D> &vertices);
            double shortestEdge(const aiScene *scene);
            void sceneCenter(const aiScene *scene, aiVector3D &center);
        }
    }
}
#endif