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42 lines
1.3 KiB
42 lines
1.3 KiB
#pragma once
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#include <memory>
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#include <string>
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#include <tuple>
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#include <vector>
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#include <Eigen/Core>
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namespace drake {
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namespace geometry {
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namespace internal {
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/** Reads the OBJ file with the given `filename` into a collection of data. It
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* includes the vertex positions, face encodings (see TinyObjToFclFaces), and
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* number of faces.
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* @param filename The name of the obj file.
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* @param scale Scale to coordinates.
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* @param triangulate Whether triangulate polygon face in .obj or not. Refer to
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* LoadObj function in
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* https://github.com/tinyobjloader/tinyobjloader/blob/master/tiny_obj_loader.h
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* for more details.
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* @return (vertices, faces, num_faces) vertices[i] is the i'th vertex in the
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* mesh. faces is interpreted as
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*
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* faces = { n0, v0_0,v0_1,...,v0_n0-1,
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* n1, v1_0,v1_1,...,v1_n1-1,
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* n2, v2_0,v2_1,...,v2_n2-1,
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* ...}
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*
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* where n_i is the number of vertices of face_i, vi_j is the index in
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* `vertices` for a vertex on face i. Note that the size of faces is larger than
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* num_faces.
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*
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*/
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std::tuple<std::shared_ptr<std::vector<Eigen::Vector3d>>,
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std::shared_ptr<std::vector<int>>, int>
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ReadObjFile(const std::string& filename, double scale, bool triangulate);
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} // namespace internal
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} // namespace geometry
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} // namespace drake
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