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Fix formatting

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This commit is contained in:
Oleg Klimov
2017-03-10 19:46:46 +03:00
parent 82495f3c84
commit 3a8199ec28
2 changed files with 34 additions and 9 deletions
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34
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -467,13 +467,26 @@ bool findExistingMeshFile(
b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
return false;
}
std::string ext;
std::string ext_ = fn.substr(fn.size()-4);
for (std::string::iterator i=ext_.begin(); i!=ext_.end(); ++i)
{
ext += char(tolower(*i));
if (ext==".dae") *out_type = UrdfGeometry::FILE_COLLADA;
else if (ext==".stl") *out_type = UrdfGeometry::FILE_STL;
else if (ext==".obj") *out_type = UrdfGeometry::FILE_OBJ;
}
if (ext==".dae")
{
*out_type = UrdfGeometry::FILE_COLLADA;
}
else if (ext==".stl")
{
*out_type = UrdfGeometry::FILE_STL;
}
else if (ext==".obj")
{
*out_type = UrdfGeometry::FILE_OBJ;
}
else
{
b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
@@ -489,9 +502,12 @@ bool findExistingMeshFile(
shorter.push_back("..");
shorter.push_back(".");
int cnt = urdf_path.size();
for (int i=0; i<cnt; ++i) {
for (int i=0; i<cnt; ++i)
{
if (urdf_path[i]=='/' || urdf_path[i]=='\\')
{
shorter.push_back(urdf_path.substr(0, i));
}
}
shorter.reverse();
@@ -500,7 +516,8 @@ bool findExistingMeshFile(
{
std::string attempt = *x + "/" + fn;
FILE* f = fopen(attempt.c_str(), "rb");
if (!f) {
if (!f)
{
//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
continue;
}
@@ -514,7 +531,9 @@ bool findExistingMeshFile(
{
b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
return false;
} else {
}
else
{
*out_found_filename = existing_file;
return true;
}
@@ -590,7 +609,8 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_MESH:
{
GLInstanceGraphicsShape* glmesh = 0;
switch (collision->m_geometry.m_meshFileType) {
switch (collision->m_geometry.m_meshFileType)
{
case FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{