bkinnightskytw
/
kdl_parser
mirror of https://github.com/existedinnettw/kdl_parser.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #53 from cottsay/hydro-devel 

Better feature detection for assimp version
This commit is contained in:
Ioan A Sucan 2014-02-10 21:56:29 -08:00
parent f88200176c 767a1a2af5
commit cfd6c6a600
3 changed files with 12 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
collada_urdf/CMakeLists.txt
View File

@ -24,9 +24,11 @@ if ( NOT ASSIMP_FOUND )
endif() endif()
endif() endif()
if( ASSIMP_FOUND ) if( ASSIMP_FOUND )
if( ${ASSIMP_VERSION} STRGREATER "2.0.0" ) if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150" )
set(IS_ASSIMP3 1) add_definitions(-DASSIMP_UNIFIED_HEADER_NAMES)
add_definitions(-DIS_ASSIMP3) endif()
if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.885" )
add_definitions(-DASSIMP_EXPORT_API)
endif() endif()
include_directories(${ASSIMP_INCLUDE_DIRS}) include_directories(${ASSIMP_INCLUDE_DIRS})
link_directories(${ASSIMP_LIBRARY_DIRS}) link_directories(${ASSIMP_LIBRARY_DIRS})
@ -38,7 +40,6 @@ else()
set(ASSIMP_CFLAGS_OTHER) set(ASSIMP_CFLAGS_OTHER)
set(ASSIMP_LINK_FLAGS) set(ASSIMP_LINK_FLAGS)
set(ASSIMP_INCLUDE_DIRS) set(ASSIMP_INCLUDE_DIRS)
set(IS_ASSIMP3 0) # most likely not
endif() endif()
find_package(COLLADA_DOM 2.3 COMPONENTS 1.5) find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)

12
collada_urdf/src/collada_to_urdf.cpp
View File

@ -5,8 +5,7 @@
#include <collada_parser/collada_parser.h> #include <collada_parser/collada_parser.h>
#include <urdf_parser/urdf_parser.h> #include <urdf_parser/urdf_parser.h>
#if IS_ASSIMP3 #if defined(ASSIMP_UNIFIED_HEADER_NAMES)
// assimp 3 (assimp_devel)
#include <assimp/IOSystem.hpp> #include <assimp/IOSystem.hpp>
#include <assimp/IOStream.hpp> #include <assimp/IOStream.hpp>
#include <assimp/Importer.hpp> #include <assimp/Importer.hpp>
@ -14,9 +13,10 @@
#include <assimp/postprocess.h> #include <assimp/postprocess.h>
#include <assimp/scene.h> #include <assimp/scene.h>
#else #else
// assimp 2
#include <assimp.hpp> #include <assimp.hpp>
//#include <assimp/export.hpp> #if defined(ASSIMP_EXPORT_API)
#include <assimp/export.hpp>
#endif
#include <aiScene.h> #include <aiScene.h>
#include <aiPostProcess.h> #include <aiPostProcess.h>
#endif #endif
@ -69,7 +69,7 @@ os << "xyz: " << origin.position.x << " " << origin.position.y << " " << origin.
void assimp_file_export(std::string fname, std::string ofname, void assimp_file_export(std::string fname, std::string ofname,
std::string mesh_type = "collada") { std::string mesh_type = "collada") {
#if IS_ASSIMP3 #if defined(ASSIMP_EXPORT_API)
if (fname.find("file://") == 0) { if (fname.find("file://") == 0) {
fname.erase(0, strlen("file://")); fname.erase(0, strlen("file://"));
} }
@ -597,7 +597,7 @@ int main(int argc, char** argv)
cerr << ";; Adding gazebo description" << endl; cerr << ";; Adding gazebo description" << endl;
} }
if (vm.count("use_assimp_export")) { if (vm.count("use_assimp_export")) {
#if IS_ASSIMP3 #if defined(ASSIMP_EXPORT_API)
use_assimp_export = true; use_assimp_export = true;
#endif #endif
cerr << ";; Use assimp export" << endl; cerr << ";; Use assimp export" << endl;

2
collada_urdf/src/collada_urdf.cpp
View File

@ -62,7 +62,7 @@
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <boost/scoped_ptr.hpp> #include <boost/scoped_ptr.hpp>
#if defined(IS_ASSIMP3) #if defined(ASSIMP_UNIFIED_HEADER_NAMES)
#include <assimp/scene.h> #include <assimp/scene.h>
#include <assimp/LogStream.hpp> #include <assimp/LogStream.hpp>
#include <assimp/DefaultLogger.hpp> #include <assimp/DefaultLogger.hpp>