Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix loadMJCF/BulletMJCFImporter to load from fileIO

Browse Source
This commit is contained in:
Erwin Coumans
2019-05-29 19:26:27 -07:00
parent 093986f1ee
commit 411ac4fcc3
1 changed files with 13 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@@ -9,9 +9,9 @@
#include "../../CommonInterfaces/CommonFileIOInterface.h" #include "../../CommonInterfaces/CommonFileIOInterface.h"
#include "../ImportURDFDemo/UrdfFindMeshFile.h" #include "../ImportURDFDemo/UrdfFindMeshFile.h"
#include <string> #include <string>
#include "../../Utils/b3ResourcePath.h"
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
#include "../../Utils/b3ResourcePath.h"
#include "../ImportURDFDemo/URDF2Bullet.h" #include "../ImportURDFDemo/URDF2Bullet.h"
#include "../ImportURDFDemo/UrdfParser.h" #include "../ImportURDFDemo/UrdfParser.h"
#include "../ImportURDFDemo/urdfStringSplit.h" #include "../ImportURDFDemo/urdfStringSplit.h"
@@ -1453,17 +1453,21 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
} }
else else
{ {
int maxPathLen = 1024; //read file
fu.extractPath(relativeFileName, m_data->m_pathPrefix, maxPathLen); int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
std::fstream xml_file(relativeFileName, std::fstream::in); char destBuffer[8192];
while (xml_file.good()) char* line = 0;
do
{ {
std::string line; line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
std::getline(xml_file, line); if (line)
xml_string += (line + "\n"); {
xml_string += (std::string(destBuffer) + "\n");
}
} }
xml_file.close(); while (line);
m_data->m_fileIO->fileClose(fileId);
if (parseMJCFString(xml_string.c_str(), logger)) if (parseMJCFString(xml_string.c_str(), logger))
{ {