Start of assimp render class

cmakemodules/script_assimp.cmake

@@ -59,6 +59,14 @@ IF (NOT ASSIMP_FOUND OR "${ASSIMP_DIR}" STREQUAL "${EMBEDDED_ASSIMP_DIR}")
 		set(ASSIMP_LIBRARIES "")
 		LIST(APPEND ASSIMP_LIBRARIES optimized "assimp-mrpt" debug "assimp-mrptd")
 
+		# Override binary output dir:
+		SET_TARGET_PROPERTIES(assimp PROPERTIES 
+			ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/"
+			RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/"
+			)
+
+
+
 		SET(CMAKE_MRPT_HAS_ASSIMP 1)
 		SET(CMAKE_MRPT_HAS_ASSIMP_SYSTEM 0)
 	ENDIF (BUILD_ASSIMP)

libs/opengl/include/mrpt/opengl.h

@@ -40,6 +40,7 @@
 #include <mrpt/opengl/CText3D.h>
 #include <mrpt/opengl/CTexturedPlane.h>
 #include <mrpt/opengl/C3DSScene.h>
+#include <mrpt/opengl/CAssimpModel.h>
 //#include <mrpt/opengl/CPlanarLaserScan.h>			// It's in the lib mrpt-maps now
 //#include <mrpt/opengl/CAngularObservationMesh.h>	// It's in the lib mrpt-maps now
 #include <mrpt/opengl/CCylinder.h>

libs/opengl/include/mrpt/opengl/CAssimpModel.h

@@ -0,0 +1,107 @@
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+#ifndef opengl_CAssimpModel_H
+#define opengl_CAssimpModel_H
+
+#include <mrpt/opengl/CRenderizableDisplayList.h>
+#include <mrpt/opengl/COpenGLScene.h>
+#include <mrpt/utils/CMemoryChunk.h>
+
+namespace mrpt
+{
+	namespace opengl
+	{
+		class OPENGL_IMPEXP CAssimpModel;
+
+		// This must be added to any CSerializable derived class:
+		DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CAssimpModel, CRenderizableDisplayList, OPENGL_IMPEXP )
+
+		/** This class can load & render 3D models in a number of different formats (requires the library assimp).
+		  *  - All supported formats: http://assimp.sourceforge.net/main_features_formats.html
+		  *  - Most common ones: AutoCAD DXF ( .dxf ), Collada ( .dae ), Blender 3D ( .blend ), 3ds Max 3DS ( .3ds ), 3ds Max ASE ( .ase ), Quake I ( .mdl ), Quake II ( .md2 ), Quake III Mesh ( .md3 ), etc.
+		  *
+		  *  \sa opengl::COpenGLScene
+		  * \ingroup mrpt_opengl_grp
+		  * \note Class introduced in MRPT 1.2.2
+		  */
+		class OPENGL_IMPEXP CAssimpModel : public CRenderizableDisplayList
+		{
+			DEFINE_SERIALIZABLE( CAssimpModel )
+
+		public:
+
+			/** Render child objects.
+			  */
+			void  render_dl() const;
+
+			/** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
+			virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const;
+
+			/**  Loads a scene from a 3DS file (3D Studio format) into this object, from either plain .3ds format, or in gzip compressed .3ds.gz format.
+			  *    Previous contents are lost.
+			  *    If the file ends in ".gz", it'll be automatically decompressed using gzip (see mrpt::compress::zip).
+			  */
+			void loadFrom3DSFile( const std::string &file_name );
+
+			/** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
+			  */
+			void  initializeAllTextures();
+
+			/** Empty the object */
+			void   clear();
+
+			/** Evaluates the scene at a given animation time
+			  */
+			void evaluateAnimation( double time_anim );
+
+			/** Enables an extra ambient light */
+			void enableExtraAmbientLight(bool enable=true) { m_enable_extra_lighting=enable; CRenderizableDisplayList::notifyChange(); }
+
+			/* Simulation of ray-trace. */
+			virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;
+
+		private:
+			/** Default constructor
+			  */
+			CAssimpModel( );
+
+			/** Private, virtual destructor: only can be deleted from smart pointers */
+			virtual ~CAssimpModel();
+
+			/** A container for automatic deletion of lib3ds's scene when the last reference of the smart_ptr's is destroyed.
+			  */
+			struct TImpl3DS
+			{
+				TImpl3DS();
+				~TImpl3DS();
+				void	*file;	//!< Lib3dsFile*
+			};
+
+			/** An internal pointer to the lib3ds library's object of type "Lib3dsFile"
+			  */
+			stlplus::smart_ptr<TImpl3DS>	m_3dsfile;
+
+			/** Scale of the object */
+			//double	m_scale_x,m_scale_y,m_scale_z;
+			mrpt::math::TPoint3D   m_bbox_min, m_bbox_max; //!< Bounding box
+
+			bool	m_enable_extra_lighting;
+
+			//float	m_light_cons_attenuation;		//!< OpenGL Light attenuation factor (default=1.0)
+			//float	m_light_lin_attenuation;		//!< OpenGL Light attenuation factor (default=0.0)
+			//float	m_light_quad_attenuation;		//!< OpenGL Light attenuation factor (default=0.0)
+		};
+
+
+	} // end namespace
+
+} // End of namespace
+
+
+#endif

libs/opengl/src/C3DSScene.cpp

@@ -9,6 +9,8 @@
 
 #include "opengl-precomp.h"  // Precompiled header
 
+MRPT_TODO("Replace this class with a wrapper to assimp")
+
 // Include the lib3ds library:
 #include <lib3ds/file.h>
 #include <lib3ds/background.h>