From 4ffd7658d7242492f8b37cc00448be699b79171c Mon Sep 17 00:00:00 2001
From: Rosen Diankov <devnull@localhost>
Date: Thu, 21 Jun 2012 14:14:09 +0900
Subject: [PATCH] update to collada 2.4.0 support and assimp3.0 support.
 collada_parser now including urdf_model/X.h (from urdfdom) instead of
 urdf_interface/X.h

---
 collada_parser/CMakeLists.txt                 | 17 ++++++++----
 .../include/collada_parser/collada_parser.h   | 16 +++++------
 collada_parser/manifest.xml                   |  4 +--
 collada_parser/src/collada_parser.cpp         |  6 ++---
 collada_urdf/CMakeLists.txt                   | 27 ++++++++++++++++++-
 collada_urdf/src/collada_urdf.cpp             | 24 ++++++++++++-----
 6 files changed, 69 insertions(+), 25 deletions(-)

diff --git a/collada_parser/CMakeLists.txt b/collada_parser/CMakeLists.txt
index dfa37b4..d4df99a 100644
--- a/collada_parser/CMakeLists.txt
+++ b/collada_parser/CMakeLists.txt
@@ -11,11 +11,15 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 rosbuild_init()
 
+rosbuild_add_boost_directories()
+
 set(CMAKE_MODULE_PATH  ${PROJECT_SOURCE_DIR}/cmake-extensions/ )
 find_package(PkgConfig)
-pkg_check_modules(COLLADADOM collada15dom)
-include_directories(${COLLADADOM_INCLUDE_DIRS})
-#link_directories(${COLLADADOM_LIBRARY_DIRS})
+find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
+if( COLLADA_DOM_FOUND )
+  include_directories(${COLLADA_DOM_INCLUDE_DIRS})
+  #link_directories(${COLLADA_DOM_LIBRARY_DIRS})
+endif()
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
@@ -31,11 +35,14 @@ endif()
 #common commands for building c++ executables and libraries
 rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp)
 
+rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}")
+rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}")
+
 if(APPLE) 
-  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") 
+  rosbuild_add_link_flags(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") 
 endif(APPLE)
 
 #target_link_libraries(${PROJECT_NAME} another_library)
-rosbuild_add_boost_directories()
+
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 
diff --git a/collada_parser/include/collada_parser/collada_parser.h b/collada_parser/include/collada_parser/collada_parser.h
index 84278ae..da72748 100644
--- a/collada_parser/include/collada_parser/collada_parser.h
+++ b/collada_parser/include/collada_parser/collada_parser.h
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -41,13 +41,13 @@
 #include <map>
 #include <boost/function.hpp>
 
-#include <urdf_interface/model.h>
+#include <urdf_model/model.h>
 
 
-namespace urdf{
+namespace urdf {
 
-  /// \brief Load Model from string
-  boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string );
+/// \brief Load Model from string
+boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string );
 
 }
 
diff --git a/collada_parser/manifest.xml b/collada_parser/manifest.xml
index 24ce3bf..5beafbc 100644
--- a/collada_parser/manifest.xml
+++ b/collada_parser/manifest.xml
@@ -17,8 +17,8 @@
   <rosdep name="colladadom"/>
 
   <export>
-    <cpp cflags="-I${prefix}/include `pkg-config --cflags collada15dom`" 
-         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada_parser `pkg-config --libs collada15dom`"/>
+    <cpp cflags="-I${prefix}/include `pkg-config --silence-errors --cflags collada15dom` `pkg-config --silence-errors --cflags collada-dom-150` " 
+         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada_parser `pkg-config --silence-errors --libs collada15dom` `pkg-config --silence-errors --libs collada-dom-150`"/>
   </export>
 
 </package>
diff --git a/collada_parser/src/collada_parser.cpp b/collada_parser/src/collada_parser.cpp
index c59523e..5352ee3 100644
--- a/collada_parser/src/collada_parser.cpp
+++ b/collada_parser/src/collada_parser.cpp
@@ -56,7 +56,7 @@
 
 #include <ros/ros.h>
 #include <collada_parser/collada_parser.h>
-#include <urdf_interface/model.h>
+#include <urdf_model/model.h>
 
 #ifndef HAVE_MKSTEMPS
 #include <fstream>
@@ -419,7 +419,7 @@ public:
     bool InitFromFile(const std::string& filename) {
         ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s, filename: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE%filename));
         _collada.reset(new DAE);
-        _dom = _collada->open(filename);
+        _dom = (domCOLLADA*)_collada->open(filename);
         if (!_dom) {
             return false;
         }
@@ -438,7 +438,7 @@ public:
     bool InitFromData(const std::string& pdata) {
         ROS_DEBUG_STREAM(str(boost::format("init COLLADA reader version: %s, namespace: %s\n")%COLLADA_VERSION%COLLADA_NAMESPACE));
         _collada.reset(new DAE);
-        _dom = _collada->openFromMemory(".",pdata.c_str());
+        _dom = (domCOLLADA*)_collada->openFromMemory(".",pdata.c_str());
         if (!_dom) {
             return false;
         }
diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 74f5a11..9969631 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -6,9 +6,34 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
 link_libraries(tinyxml)
 
+find_package(ASSIMP)
+if( NOT ASSIMP_FOUND )
+  pkg_check_modules(ASSIMP assimp)
+endif()
+
+if( ASSIMP_FOUND )
+  if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
+    set(IS_ASSIMP3 1)
+    add_definitions(-DIS_ASSIMP3)
+  endif()
+  include_directories(${ASSIMP_INCLUDE_DIRS})
+  link_directories(${ASSIMP_LIBRARY_DIRS})
+else()
+  message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assimping assimp v2")
+  set(ASSIMP_LIBRARIES assimp)
+  set(ASSIMP_LIBRARY_DIRS)
+  set(ASSIMP_CXX_FLAGS)
+  set(ASSIMP_CFLAGS_OTHER)
+  set(ASSIMP_LINK_FLAGS)
+  set(ASSIMP_INCLUDE_DIRS)
+  set(IS_ASSIMP3 0) # most likely not
+endif()
+
 rosbuild_add_library(collada_urdf src/collada_urdf.cpp)
 rosbuild_link_boost(collada_urdf system)
-target_link_libraries(collada_urdf assimp)
+target_link_libraries(collada_urdf ${ASSIMP_LIBRARIES})
+rosbuild_add_compile_flags(collada_urdf "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
+rosbuild_add_link_flags(collada_urdf "${ASSIMP_LINK_FLAGS}")
 
 rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp)
 target_link_libraries(urdf_to_collada collada_urdf)
diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index 29479e6..d1c1aa0 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -51,7 +51,7 @@
 #include <dom/domTypes.h>
 #include <resource_retriever/retriever.h>
 #include <urdf/model.h>
-#include <urdf_interface/pose.h>
+#include <urdf_model/pose.h>
 #include <angles/angles.h>
 #include <ros/assert.h>
 
@@ -60,11 +60,23 @@
 #include <boost/format.hpp>
 #include <boost/array.hpp>
 
-#include <assimp/assimp.hpp>
-#include <assimp/aiScene.h>
-#include <assimp/aiPostProcess.h>
-#include <assimp/IOStream.h>
-#include <assimp/IOSystem.h>
+#if defined(IS_ASSIMP3)
+#include <assimp/scene.h>
+#include <assimp/LogStream.hpp>
+#include <assimp/DefaultLogger.hpp>
+#include <assimp/IOStream.hpp>
+#include <assimp/IOSystem.hpp>
+#include <assimp/Importer.hpp>
+#include <assimp/postprocess.h>
+#else
+#include <assimp.hpp>
+#include <aiScene.h>
+#include <aiPostProcess.h>
+#include <DefaultLogger.h>
+#include <IOStream.h>
+#include <IOSystem.h>
+
+#endif
 
 #define FOREACH(it, v) for(typeof((v).begin())it = (v).begin(); it != (v).end(); (it)++)
 #define FOREACHC FOREACH