Remove unused ROS urdf (was replaced by Bullet UrdfParser.

Small refactoring for ExampleBrowser: move examples cpp files in the app/executable
Move ExtendedTutorials in its own app/executable as a test.

examples/BasicDemo/CMakeLists.txt

@@ -52,6 +52,7 @@ SET(AppBasicExampleGui_SRCS
 	../StandaloneMain/main_opengl_single_example.cpp
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
+        ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
 )
 
 #this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'

examples/BasicDemo/premake4.lua

@@ -48,6 +48,7 @@ files {
         "../StandaloneMain/main_opengl_single_example.cpp",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
 }
 
 if os.is("Linux") then initX11() end
@@ -85,6 +86,7 @@ files {
         "../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
 	"../TinyRenderer/geometry.cpp",
 	"../TinyRenderer/model.cpp",
 	"../TinyRenderer/tgaimage.cpp",

examples/CommonInterfaces/CommonExampleInterface.h

@@ -48,6 +48,31 @@ public:
 
 };
 
+class ExampleEntries
+{
+
+public:
+
+        virtual ~ExampleEntries() {}
+
+
+        virtual void initExampleEntries()=0;
+
+        virtual void initOpenCLExampleEntries()=0;
+
+        virtual int getNumRegisteredExamples()=0;
+
+        virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
+
+        virtual const char* getExampleName(int index)=0;
+
+        virtual const char* getExampleDescription(int index)=0;
+
+        virtual int     getExampleOption(int index)=0;
+
+};
+
+
 CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
 
 #ifdef B3_USE_STANDALONE_EXAMPLE

examples/ExampleBrowser/CMakeLists.txt

@@ -7,6 +7,107 @@ INCLUDE_DIRECTORIES(
 
 FILE(GLOB GwenGUISupport_SRCS  "GwenGUISupport/*" )
 FILE(GLOB GwenGUISupport_HDRS  "GwenGUISupport/*" )
+
+
+IF (WIN32)
+        INCLUDE_DIRECTORIES(
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+        )
+				ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+        IF(APPLE)
+                find_library(COCOA NAMES Cocoa)
+  			ELSE(APPLE)
+                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+                INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
+     		ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_LIBRARY(BulletExampleBrowserLib
+	OpenGLExampleBrowser.cpp
+	OpenGLGuiHelper.cpp
+	InProcessExampleBrowser.cpp
+	GL_ShapeDrawer.cpp
+	CollisionShape2TriangleMesh.cpp
+	CollisionShape2TriangleMesh.h
+	../Utils/b3Clock.cpp
+	../Utils/b3Clock.h
+	../Utils/b3ResourcePath.cpp
+	../Utils/b3ResourcePath.h
+	${GwenGUISupport_SRCS}
+	${GwenGUISupport_HDRS}
+	
+)
+
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+		IF (WIN32)
+                TARGET_LINK_LIBRARIES(
+                        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                        BulletInverseDynamics LinearMath OpenGLWindow gwen
+                        ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                )
+		ELSE(WIN32)
+        IF(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                 )
+  			ELSE(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                pthread dl
+                        )
+        ENDIF(APPLE)
+	ENDIF(WIN32)
+ENDIF(BUILD_SHARED_LIBS)
+
+####################
+#
+# Bullet Example Browser main app
+#
+####################
+
+INCLUDE_DIRECTORIES(
+        .
+        ${BULLET_PHYSICS_SOURCE_DIR}/src
+        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+
+LINK_LIBRARIES(
+        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
+)
+
+IF (WIN32)
+	INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+	)
+	LINK_LIBRARIES(
+		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+	ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+	IF(APPLE)
+                find_library(COCOA NAMES Cocoa)
+                MESSAGE(${COCOA})
+                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+  ELSE(APPLE)
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+		ADD_DEFINITIONS("-DGLEW_STATIC")
+		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+		INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
+		LINK_LIBRARIES( pthread dl)
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+
 SET(ExtendedTutorialsSources
 	../ExtendedTutorials/SimpleBox.cpp
 	../ExtendedTutorials/MultipleBoxes.cpp
@@ -18,10 +119,14 @@ SET(ExtendedTutorialsSources
 )
 
 SET(BulletExampleBrowser_SRCS
-	OpenGLExampleBrowser.cpp
+	
-	OpenGLGuiHelper.cpp
+	../TinyRenderer/Bullet2TinyRenderer.cpp
-	InProcessExampleBrowser.cpp
+	../TinyRenderer/geometry.cpp
-	GL_ShapeDrawer.cpp
+	../TinyRenderer/model.cpp
+	../TinyRenderer/tgaimage.cpp
+	../TinyRenderer/our_gl.cpp
+	../TinyRenderer/TinyRenderer.cpp
+	../RenderingExamples/TinyRendererSetup.cpp
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClient.cpp
@@ -181,106 +286,17 @@ SET(BulletExampleBrowser_SRCS
 	../ThirdPartyLibs/tinyxml/tinyxml.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
-	../Utils/b3Clock.cpp
-	../Utils/b3Clock.h
-	../Utils/b3ResourcePath.cpp
-	../Utils/b3ResourcePath.h
-	${GwenGUISupport_SRCS}
-	${GwenGUISupport_HDRS}
-	${ExtendedTutorialsSources}
 	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 )
 
-IF (WIN32)
-        INCLUDE_DIRECTORIES(
-                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
-        )
-				ADD_DEFINITIONS(-DGLEW_STATIC)
-ELSE(WIN32)
-        IF(APPLE)
-                find_library(COCOA NAMES Cocoa)
-  			ELSE(APPLE)
-                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
-                ADD_DEFINITIONS("-DGLEW_STATIC")
-                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
-                INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
-     		ENDIF(APPLE)
-ENDIF(WIN32)
-
-
-ADD_LIBRARY(BulletExampleBrowserLib ${BulletExampleBrowser_SRCS} )
-SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
-IF (BUILD_SHARED_LIBS)
-		IF (WIN32)
-                TARGET_LINK_LIBRARIES(
-                        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
-                        BulletInverseDynamics LinearMath OpenGLWindow gwen
-                        ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-                )
-		ELSE(WIN32)
-        IF(APPLE)
-                 TARGET_LINK_LIBRARIES(
-                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
-                                BulletInverseDynamics LinearMath OpenGLWindow gwen
-                                ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-                 )
-  			ELSE(APPLE)
-                 TARGET_LINK_LIBRARIES(
-                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
-                                BulletInverseDynamics LinearMath OpenGLWindow gwen
-                                pthread dl
-                        )
-        ENDIF(APPLE)
-	ENDIF(WIN32)
-ENDIF(BUILD_SHARED_LIBS)
-
-####################
-#
-# Bullet Example Browser main app
-#
-####################
-
-INCLUDE_DIRECTORIES(
-        .
-        ${BULLET_PHYSICS_SOURCE_DIR}/src
-        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
-)
-
-
-LINK_LIBRARIES(
-        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
-)
-
-IF (WIN32)
-	INCLUDE_DIRECTORIES(
-		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
-	)
-	LINK_LIBRARIES(
-		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-	)
-	ADD_DEFINITIONS(-DGLEW_STATIC)
-ELSE(WIN32)
-	IF(APPLE)
-                find_library(COCOA NAMES Cocoa)
-                MESSAGE(${COCOA})
-                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
-  ELSE(APPLE)
-		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
-		ADD_DEFINITIONS("-DGLEW_STATIC")
-		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
-		INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
-		LINK_LIBRARIES( pthread dl)
-	ENDIF(APPLE)
-ENDIF(WIN32)
-
-
 
 
 ADD_EXECUTABLE(App_ExampleBrowser
 		main.cpp
 		ExampleEntries.cpp
 		ExampleEntries.h
+		${ExtendedTutorialsSources}
+		${BulletExampleBrowser_SRCS} 
 )
 
 FILE( MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/data" )

examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp

@@ -0,0 +1,192 @@
+
+#include "CollisionShape2TriangleMesh.h"
+
+#include "btBulletCollisionCommon.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
+
+void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut)
+
+{
+//todo: support all collision shape types
+	switch (collisionShape->getShapeType())
+	{
+		case SOFTBODY_SHAPE_PROXYTYPE:
+		{
+			//skip the soft body collision shape for now
+			break;
+		}
+		case STATIC_PLANE_PROXYTYPE:
+		{
+			//draw a box, oriented along the plane normal
+			const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
+			btScalar planeConst = staticPlaneShape->getPlaneConstant();
+			const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+			btVector3 planeOrigin = planeNormal * planeConst;
+			btVector3 vec0,vec1;
+			btPlaneSpace1(planeNormal,vec0,vec1);
+			btScalar vecLen = 100.f;
+			btVector3 verts[4];
+
+			verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
+			verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
+			verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
+			verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
+				
+			int startIndex = vertexPositions.size();
+			indicesOut.push_back(startIndex+0);
+			indicesOut.push_back(startIndex+1);
+			indicesOut.push_back(startIndex+2);
+			indicesOut.push_back(startIndex+0);
+			indicesOut.push_back(startIndex+2);
+			indicesOut.push_back(startIndex+3);
+
+			btVector3 triNormal = parentTransform.getBasis()*planeNormal;
+				
+
+			for (int i=0;i<4;i++)
+			{
+				btVector3 vtxPos;
+				btVector3 pos =parentTransform*verts[i];
+				vertexPositions.push_back(pos);
+				vertexNormals.push_back(triNormal);
+			}
+			break;
+		}
+		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
+		{
+			
+
+			btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
+			btVector3 trimeshScaling = trimesh->getLocalScaling();
+			btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
+			btAlignedObjectArray<btVector3> vertices;
+			btAlignedObjectArray<int> indices;
+				
+			for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
+			{
+					
+				const unsigned char *vertexbase = 0;
+				int numverts = 0;
+				PHY_ScalarType type = PHY_INTEGER;
+				int stride = 0;
+				const unsigned char *indexbase = 0;
+				int indexstride = 0;
+				int numfaces = 0;
+				PHY_ScalarType indicestype = PHY_INTEGER;
+				//PHY_ScalarType indexType=0;
+					
+				btVector3 triangleVerts[3];
+				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
+				btVector3 aabbMin,aabbMax;
+					
+				for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
+				{
+					unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
+						
+					for (int j=2;j>=0;j--)
+					{
+							
+						int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+						if (type == PHY_FLOAT)
+						{
+							float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+							triangleVerts[j] = btVector3(
+															graphicsbase[0]*trimeshScaling.getX(),
+															graphicsbase[1]*trimeshScaling.getY(),
+															graphicsbase[2]*trimeshScaling.getZ());
+						}
+						else
+						{
+							double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+							triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
+															btScalar(graphicsbase[1]*trimeshScaling.getY()),
+															btScalar(graphicsbase[2]*trimeshScaling.getZ()));
+						}
+					}
+					indices.push_back(vertices.size());
+					vertices.push_back(triangleVerts[0]);
+					indices.push_back(vertices.size());
+					vertices.push_back(triangleVerts[1]);
+					indices.push_back(vertices.size());
+					vertices.push_back(triangleVerts[2]);
+
+					btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
+					triNormal.normalize();
+
+					for (int v=0;v<3;v++)
+					{
+						
+						btVector3 pos =parentTransform*triangleVerts[v];
+						indicesOut.push_back(vertexPositions.size());
+						vertexPositions.push_back(pos);
+						vertexNormals.push_back(triNormal);
+
+					}
+
+					
+				}
+			}
+			
+			break;
+		}
+		default:
+		{
+			if (collisionShape->isConvex())
+			{
+				btConvexShape* convex = (btConvexShape*)collisionShape;
+				{
+					btShapeHull* hull = new btShapeHull(convex);
+					hull->buildHull(0.0);
+
+					{
+						//int strideInBytes = 9*sizeof(float);
+						//int numVertices = hull->numVertices();
+						//int numIndices =hull->numIndices();
+
+						for (int t=0;t<hull->numTriangles();t++)
+						{
+
+							btVector3 triNormal;
+
+							int index0 = hull->getIndexPointer()[t*3+0];
+							int index1 = hull->getIndexPointer()[t*3+1];
+							int index2 = hull->getIndexPointer()[t*3+2];
+							btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
+							btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
+							btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
+							triNormal = (pos1-pos0).cross(pos2-pos0);
+							triNormal.normalize();
+
+							for (int v=0;v<3;v++)
+							{
+								int index = hull->getIndexPointer()[t*3+v];
+								btVector3 pos =parentTransform*hull->getVertexPointer()[index];
+								indicesOut.push_back(vertexPositions.size());
+								vertexPositions.push_back(pos);
+								vertexNormals.push_back(triNormal);
+							}
+						}
+					}
+				}
+			} else
+			{
+				if (collisionShape->isCompound())
+				{
+					btCompoundShape* compound = (btCompoundShape*) collisionShape;
+					for (int i=0;i<compound->getNumChildShapes();i++)
+					{
+
+						btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
+						CollisionShape2TriangleMesh(compound->getChildShape(i),childWorldTrans,vertexPositions,vertexNormals,indicesOut);
+					}
+				} else
+				{
+					btAssert(0);
+				}
+					
+			}
+		}
+	};
+}
+
+

examples/ExampleBrowser/CollisionShape2TriangleMesh.h

@@ -0,0 +1,10 @@
+#ifndef COLLISION_SHAPE_2_GRAPHICS_H
+#define COLLISION_SHAPE_2_GRAPHICS_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btTransform.h"
+class btCollisionShape;
+
+void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut);
+
+#endif //COLLISION_SHAPE_2_GRAPHICS_H

examples/ExampleBrowser/ExampleEntries.cpp

@@ -5,6 +5,8 @@
 #include "../RenderingExamples/RenderInstancingDemo.h"
 #include "../RenderingExamples/CoordinateSystemDemo.h"
 #include "../RenderingExamples/RaytracerSetup.h"
+#include "../RenderingExamples/TinyRendererSetup.h"
+
 #include "../ForkLift/ForkLiftDemo.h"
 #include "../BasicDemo/BasicExample.h"
 #include "../Planar2D/Planar2D.h"
@@ -84,6 +86,7 @@ struct ExampleEntry
 };
 
 
+
 static ExampleEntry gDefaultExamples[]=
 {
 	 
@@ -225,6 +228,7 @@ static ExampleEntry gDefaultExamples[]=
 					RayTracerCreateFunc),
 					
 	
+
 	ExampleEntry(0,"Experiments"),
 	
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
@@ -255,6 +259,7 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
 	ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
 	ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
+	ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
 	
 	//Extended Tutorials Added by Mobeen
 	ExampleEntry(0,"Extended Tutorials"),

examples/ExampleBrowser/ExampleEntries.h

@@ -6,31 +6,6 @@
 
 
 
-class ExampleEntries
-{
-
-public:
-
-        virtual ~ExampleEntries() {}
-
-
-        virtual void initExampleEntries()=0;
-
-        virtual void initOpenCLExampleEntries()=0;
-
-        virtual int getNumRegisteredExamples()=0;
-
-        virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
-
-        virtual const char* getExampleName(int index)=0;
-
-        virtual const char* getExampleDescription(int index)=0;
-
-        virtual int     getExampleOption(int index)=0;
-
-};
-
-
 class ExampleEntriesAll : public ExampleEntries
 {
 

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -130,7 +130,6 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
 	ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
 
-	ExampleEntryPhysicsServer(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
 
 };
 

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -256,6 +256,21 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 }
 
 #include <string.h>
+struct FileImporterByExtension
+{
+    std::string m_extension;
+    CommonExampleInterface::CreateFunc*		m_createFunc;
+};
+
+static btAlignedObjectArray<FileImporterByExtension> gFileImporterByExtension;
+
+void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc*		createFunc)
+{
+    FileImporterByExtension fi;
+    fi.m_extension = extension;
+    fi.m_createFunc = createFunc;
+    gFileImporterByExtension.push_back(fi);
+}
 
 void openFileDemo(const char* filename)
 {
@@ -279,21 +294,16 @@ void openFileDemo(const char* filename)
 	char fullPath[1024];
 	sprintf(fullPath, "%s", filename);
 	b3FileUtils::toLower(fullPath);
-	if (strstr(fullPath, ".urdf"))
+	
+	for (int i=0;i<gFileImporterByExtension.size();i++)
     {
-		sCurrentDemo = ImportURDFCreateFunc(options);
+        if (strstr(fullPath, gFileImporterByExtension[i].m_extension.c_str()))
-	} else
         {
-		if (strstr(fullPath, ".bullet"))
+            sCurrentDemo = gFileImporterByExtension[i].m_createFunc(options);
-		{
-			sCurrentDemo = SerializeBulletCreateFunc(options);
         }   
     }
     
 	
-	//physicsSetup->setFileName(filename);
-
-	
     if (sCurrentDemo)
     {
         sCurrentDemo->initPhysics();

examples/ExampleBrowser/OpenGLExampleBrowser.h

@@ -20,6 +20,7 @@ public:
 
 	virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
 	
+	static void registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc*		createFunc);
 };
 
 #endif //OPENGL_BROWSER_GUI_H

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -5,8 +5,9 @@
 #include "../CommonInterfaces/CommonGraphicsAppInterface.h"
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "Bullet3Common/b3Scalar.h"
+#include "CollisionShape2TriangleMesh.h"
+
 
-#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
 
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 //backwards compatibility
@@ -206,222 +207,6 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
 }
 
-static void createCollisionShapeGraphicsObjectInternal(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
-{
-//todo: support all collision shape types
-	switch (collisionShape->getShapeType())
-	{
-		case SOFTBODY_SHAPE_PROXYTYPE:
-		{
-			//skip the soft body collision shape for now
-			break;
-		}
-		case STATIC_PLANE_PROXYTYPE:
-		{
-			//draw a box, oriented along the plane normal
-			const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
-			btScalar planeConst = staticPlaneShape->getPlaneConstant();
-			const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
-			btVector3 planeOrigin = planeNormal * planeConst;
-			btVector3 vec0,vec1;
-			btPlaneSpace1(planeNormal,vec0,vec1);
-			btScalar vecLen = 100.f;
-			btVector3 verts[4];
-
-			verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
-			verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
-			verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
-			verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
-				
-			int startIndex = verticesOut.size();
-			indicesOut.push_back(startIndex+0);
-			indicesOut.push_back(startIndex+1);
-			indicesOut.push_back(startIndex+2);
-			indicesOut.push_back(startIndex+0);
-			indicesOut.push_back(startIndex+2);
-			indicesOut.push_back(startIndex+3);
-
-			btVector3 triNormal = parentTransform.getBasis()*planeNormal;
-				
-
-			for (int i=0;i<4;i++)
-			{
-				GLInstanceVertex vtx;
-				btVector3 pos =parentTransform*verts[i];
-				vtx.xyzw[0] = pos.x();
-				vtx.xyzw[1] = pos.y();
-				vtx.xyzw[2] = pos.z();
-				vtx.xyzw[3] = 0.f;
-
-				vtx.normal[0] =triNormal.x();
-				vtx.normal[1] =triNormal.y();
-				vtx.normal[2] =triNormal.z();
-
-				vtx.uv[0] = 0.5f;
-				vtx.uv[1] = 0.5f;
-				verticesOut.push_back(vtx);
-			}
-			break;
-		}
-		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
-		{
-			
-
-			btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
-			btVector3 trimeshScaling = trimesh->getLocalScaling();
-			btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
-			btAlignedObjectArray<btVector3> vertices;
-			btAlignedObjectArray<int> indices;
-				
-			for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
-			{
-					
-				const unsigned char *vertexbase = 0;
-				int numverts = 0;
-				PHY_ScalarType type = PHY_INTEGER;
-				int stride = 0;
-				const unsigned char *indexbase = 0;
-				int indexstride = 0;
-				int numfaces = 0;
-				PHY_ScalarType indicestype = PHY_INTEGER;
-				//PHY_ScalarType indexType=0;
-					
-				btVector3 triangleVerts[3];
-				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
-				btVector3 aabbMin,aabbMax;
-					
-				for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
-				{
-					unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
-						
-					for (int j=2;j>=0;j--)
-					{
-							
-						int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-						if (type == PHY_FLOAT)
-						{
-							float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-							triangleVerts[j] = btVector3(
-															graphicsbase[0]*trimeshScaling.getX(),
-															graphicsbase[1]*trimeshScaling.getY(),
-															graphicsbase[2]*trimeshScaling.getZ());
-						}
-						else
-						{
-							double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-							triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
-															btScalar(graphicsbase[1]*trimeshScaling.getY()),
-															btScalar(graphicsbase[2]*trimeshScaling.getZ()));
-						}
-					}
-					indices.push_back(vertices.size());
-					vertices.push_back(triangleVerts[0]);
-					indices.push_back(vertices.size());
-					vertices.push_back(triangleVerts[1]);
-					indices.push_back(vertices.size());
-					vertices.push_back(triangleVerts[2]);
-
-					btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
-					triNormal.normalize();
-
-					for (int v=0;v<3;v++)
-					{
-						GLInstanceVertex vtx;
-						btVector3 pos =parentTransform*triangleVerts[v];
-						vtx.xyzw[0] = pos.x();
-						vtx.xyzw[1] = pos.y();
-						vtx.xyzw[2] = pos.z();
-						vtx.xyzw[3] = 0.f;
-
-
-						vtx.normal[0] =triNormal.x();
-						vtx.normal[1] =triNormal.y();
-						vtx.normal[2] =triNormal.z();
-
-						vtx.uv[0] = 0.5f;
-						vtx.uv[1] = 0.5f;
-
-						indicesOut.push_back(verticesOut.size());
-						verticesOut.push_back(vtx);
-					}
-
-					
-				}
-			}
-			
-			break;
-		}
-		default:
-		{
-			if (collisionShape->isConvex())
-			{
-				btConvexShape* convex = (btConvexShape*)collisionShape;
-				{
-					btShapeHull* hull = new btShapeHull(convex);
-					hull->buildHull(0.0);
-
-					{
-						//int strideInBytes = 9*sizeof(float);
-						//int numVertices = hull->numVertices();
-						//int numIndices =hull->numIndices();
-
-						for (int t=0;t<hull->numTriangles();t++)
-						{
-
-							btVector3 triNormal;
-
-							int index0 = hull->getIndexPointer()[t*3+0];
-							int index1 = hull->getIndexPointer()[t*3+1];
-							int index2 = hull->getIndexPointer()[t*3+2];
-							btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
-							btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
-							btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
-							triNormal = (pos1-pos0).cross(pos2-pos0);
-							triNormal.normalize();
-
-							for (int v=0;v<3;v++)
-							{
-								int index = hull->getIndexPointer()[t*3+v];
-								GLInstanceVertex vtx;
-								btVector3 pos =parentTransform*hull->getVertexPointer()[index];
-								vtx.xyzw[0] = pos.x();
-								vtx.xyzw[1] = pos.y();
-								vtx.xyzw[2] = pos.z();
-								vtx.xyzw[3] = 0.f;
-
-								vtx.normal[0] =triNormal.x();
-								vtx.normal[1] =triNormal.y();
-								vtx.normal[2] =triNormal.z();
-
-								vtx.uv[0] = 0.5f;
-								vtx.uv[1] = 0.5f;
-
-								indicesOut.push_back(verticesOut.size());
-								verticesOut.push_back(vtx);
-							}
-						}
-					}
-				}
-			} else
-			{
-				if (collisionShape->isCompound())
-				{
-					btCompoundShape* compound = (btCompoundShape*) collisionShape;
-					for (int i=0;i<compound->getNumChildShapes();i++)
-					{
-
-						btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
-						createCollisionShapeGraphicsObjectInternal(compound->getChildShape(i),childWorldTrans,verticesOut,indicesOut);
-					}
-				} else
-				{
-					btAssert(0);
-				}
-					
-			}
-		}
-	};
-}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -429,15 +214,39 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 	if (collisionShape->getUserIndex()>=0)
 		return;
 
-	btAlignedObjectArray<GLInstanceVertex> vertices;
+	btAlignedObjectArray<GLInstanceVertex> gfxVertices;
+	
 	btAlignedObjectArray<int> indices;
 	btTransform startTrans;startTrans.setIdentity();
 
-	createCollisionShapeGraphicsObjectInternal(collisionShape,startTrans,vertices,indices);
-
-	if (vertices.size() && indices.size())
     {
-		int shapeId = registerGraphicsShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
+        btAlignedObjectArray<btVector3> vertexPositions;
+        btAlignedObjectArray<btVector3> vertexNormals;
+        CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
+        gfxVertices.resize(vertexPositions.size());
+        for (int i=0;i<vertexPositions.size();i++)
+        {
+            for (int j=0;j<4;j++)
+            {
+                gfxVertices[i].xyzw[j] = vertexPositions[i][j];
+            }
+            for (int j=0;j<3;j++)
+            {
+                gfxVertices[i].normal[j] = vertexNormals[i][j];
+            }
+            for (int j=0;j<2;j++)
+            {
+                gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
+            }
+            
+            
+        }
+    }
+    
+
+	if (gfxVertices.size() && indices.size())
+	{
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
 		collisionShape->setUserIndex(shapeId);
 	}
 		

examples/ExampleBrowser/main.cpp

@@ -1,12 +1,5 @@
 
-//#define EXAMPLE_CONSOLE_ONLY
+#include "OpenGLExampleBrowser.h"
-#ifdef EXAMPLE_CONSOLE_ONLY
-	#include "EmptyBrowser.h"
-	typedef EmptyBrowser DefaultBrowser;
-#else
-	#include "OpenGLExampleBrowser.h"
-	typedef OpenGLExampleBrowser DefaultBrowser;
-#endif //EXAMPLE_CONSOLE_ONLY
 
 #include "Bullet3Common/b3CommandLineArgs.h"
 #include "../Utils/b3Clock.h"
@@ -14,6 +7,12 @@
 #include "ExampleEntries.h"
 #include "Bullet3Common/b3Logging.h"
 
+#include "../Importers/ImportObjDemo/ImportObjExample.h"
+#include "../Importers/ImportBsp/ImportBspExample.h"
+#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
+#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
+#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
+#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
 
 
 int main(int argc, char* argv[])
@@ -25,8 +24,12 @@ int main(int argc, char* argv[])
 	ExampleEntriesAll examples;
 	examples.initExampleEntries();
 
-	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
+	OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
 	bool init = exampleBrowser->init(argc,argv);
+	exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc);
+	exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc);
+	exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc);
+	
 	clock.reset();
 	if (init)
 	{

examples/ExampleBrowser/premake4.lua

@@ -7,11 +7,7 @@ project "App_BulletExampleBrowser"
         hasCL = findOpenCL("clew")
 
         if (hasCL) then
-
-                                -- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
-
             initOpenCL("clew")
-
         end
 
         links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
@@ -51,8 +47,94 @@ project "App_BulletExampleBrowser"
         files {
         "main.cpp",
         "ExampleEntries.cpp",
-        }
         
+		"../TinyRenderer/Bullet2TinyRenderer.cpp",
+		"../TinyRenderer/geometry.cpp",
+		"../TinyRenderer/model.cpp",
+		"../TinyRenderer/tgaimage.cpp",
+		"../TinyRenderer/our_gl.cpp",
+		"../TinyRenderer/TinyRenderer.cpp",
+		"../RenderingExamples/TinyRendererSetup.cpp",
+		"../SharedMemory/PhysicsClientC_API.cpp",
+		"../SharedMemory/PhysicsClientC_API.h",
+		"../SharedMemory/PhysicsServerExample.cpp",
+		"../SharedMemory/PhysicsClientExample.cpp",
+		"../SharedMemory/PhysicsServer.cpp",
+		"../SharedMemory/PhysicsServerSharedMemory.cpp",
+		"../SharedMemory/PhysicsClientSharedMemory.cpp",
+		"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
+		"../SharedMemory/PhysicsClient.cpp",
+		"../SharedMemory/PosixSharedMemory.cpp",
+		"../SharedMemory/Win32SharedMemory.cpp",
+		"../SharedMemory/InProcessMemory.cpp",
+		"../SharedMemory/PhysicsDirect.cpp",
+		"../SharedMemory/PhysicsDirect.h",
+		"../SharedMemory/PhysicsDirectC_API.cpp",
+		"../SharedMemory/PhysicsDirectC_API.h",
+		"../SharedMemory/PhysicsLoopBack.cpp",
+		"../SharedMemory/PhysicsLoopBack.h",
+		"../SharedMemory/PhysicsLoopBackC_API.cpp",
+		"../SharedMemory/PhysicsLoopBackC_API.h",
+		"../SharedMemory/PhysicsServerCommandProcessor.cpp",
+		"../SharedMemory/PhysicsServerCommandProcessor.h",
+		"../MultiThreading/MultiThreadingExample.cpp",
+		"../MultiThreading/b3PosixThreadSupport.cpp",
+		"../MultiThreading/b3Win32ThreadSupport.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../InverseDynamics/InverseDynamicsExample.cpp",
+		"../InverseDynamics/InverseDynamicsExample.h",
+		"../BasicDemo/BasicExample.*",
+		"../Tutorial/*",
+		"../ExtendedTutorials/SimpleBox.cpp",
+		"../ExtendedTutorials/MultipleBoxes.cpp",
+		"../ExtendedTutorials/SimpleJoint.cpp",
+		"../ExtendedTutorials/SimpleCloth.cpp",
+		"../ExtendedTutorials/Chain.cpp",
+		"../ExtendedTutorials/Bridge.cpp",
+		"../ExtendedTutorials/RigidBodyFromObj.cpp",
+		"../Collision/*",
+		"../Collision/Internal/*",
+		"../Benchmarks/*",
+		"../CommonInterfaces/*",
+		"../ForkLift/ForkLiftDemo.*",
+		"../Importers/**",
+		"../../Extras/Serialize/BulletWorldImporter/*",
+		"../../Extras/Serialize/BulletFileLoader/*",	
+		"../Planar2D/Planar2D.*",
+		"../RenderingExamples/*",
+		"../VoronoiFracture/*",
+		"../SoftDemo/*",
+		"../RollingFrictionDemo/*",
+		"../FractureDemo/*",
+		"../DynamicControlDemo/*",
+		"../Constraints/*",
+		"../Vehicles/*",
+		"../Raycast/*",
+		"../MultiBody/MultiDofDemo.cpp",
+		"../MultiBody/TestJointTorqueSetup.cpp",
+		"../MultiBody/Pendulum.cpp",
+		"../MultiBody/MultiBodySoftContact.cpp",
+		"../MultiBody/MultiBodyConstraintFeedback.cpp",
+		"../MultiBody/InvertedPendulumPDControl.cpp",
+		"../RigidBody/RigidBodySoftContact.cpp",
+		"../ThirdPartyLibs/stb_image/*",
+		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
+		"../ThirdPartyLibs/tinyxml/*",
+		"../GyroscopicDemo/GyroscopicSetup.cpp",
+		"../GyroscopicDemo/GyroscopicSetup.h",
+        "../ThirdPartyLibs/tinyxml/tinystr.cpp",
+        "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+        "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+        "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+        }
+if (hasCL and findOpenGL3()) then
+			files {
+				"../OpenCL/broadphase/*",
+				"../OpenCL/CommonOpenCL/*",
+				"../OpenCL/rigidbody/GpuConvexScene.cpp",
+				"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
+			}
+		end
 if os.is("Linux") then
         initX11()
 end
@@ -99,106 +181,22 @@ project "BulletExampleBrowserLib"
 		files {
 		"OpenGLExampleBrowser.cpp",
 		"OpenGLGuiHelper.cpp",
-		"InProcessExampleBrowser.cpp",
-		"GL_ShapeDrawer.cpp",
 		"OpenGLExampleBrowser.cpp",
 		"../Utils/b3Clock.cpp",
 		"*.h",
 		"GwenGUISupport/*.cpp",
 		"GwenGUISupport/*.h",
-		"../SharedMemory/PhysicsClientC_API.cpp",
+		"CollisionShape2TriangleMesh.cpp",
-		"../SharedMemory/PhysicsClientC_API.h",
+		"CollisionShape2TriangleMesh.h",
-		"../SharedMemory/PhysicsServerExample.cpp",
-		"../SharedMemory/PhysicsClientExample.cpp",
-		"../SharedMemory/PhysicsServer.cpp",
-		"../SharedMemory/PhysicsServerSharedMemory.cpp",
-		"../SharedMemory/PhysicsClientSharedMemory.cpp",
-		"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
-		"../SharedMemory/PhysicsClient.cpp",
-		"../SharedMemory/PosixSharedMemory.cpp",
-		"../SharedMemory/Win32SharedMemory.cpp",
-		"../SharedMemory/InProcessMemory.cpp",
-		"../SharedMemory/PhysicsDirect.cpp",
-		"../SharedMemory/PhysicsDirect.h",
-		"../SharedMemory/PhysicsDirectC_API.cpp",
-		"../SharedMemory/PhysicsDirectC_API.h",
-		"../SharedMemory/PhysicsLoopBack.cpp",
-		"../SharedMemory/PhysicsLoopBack.h",
-		"../SharedMemory/PhysicsLoopBackC_API.cpp",
-		"../SharedMemory/PhysicsLoopBackC_API.h",
-		"../SharedMemory/PhysicsServerCommandProcessor.cpp",
-		"../SharedMemory/PhysicsServerCommandProcessor.h",
-		"../MultiThreading/MultiThreadingExample.cpp",
-		"../MultiThreading/b3PosixThreadSupport.cpp",
-		"../MultiThreading/b3Win32ThreadSupport.cpp",
-		"../MultiThreading/b3ThreadSupportInterface.cpp",
-		"../InverseDynamics/InverseDynamicsExample.cpp",
-		"../InverseDynamics/InverseDynamicsExample.h",
-		"../BasicDemo/BasicExample.*",
-		"../Tutorial/*",
-		"../ExtendedTutorials/*",
-		"../Collision/*",
-		"../Collision/Internal/*",
-		"../Benchmarks/*",
-		"../CommonInterfaces/*",
-		"../ForkLift/ForkLiftDemo.*",
-		"../Importers/**",
-		"../../Extras/Serialize/BulletWorldImporter/*",
-		"../../Extras/Serialize/BulletFileLoader/*",	
-		"../Planar2D/Planar2D.*",
-		"../RenderingExamples/*",
-		"../VoronoiFracture/*",
-		"../SoftDemo/*",
-		"../RollingFrictionDemo/*",
-		"../FractureDemo/*",
-		"../DynamicControlDemo/*",
-		"../Constraints/*",
-		"../Vehicles/*",
-		"../Raycast/*",
-		"../MultiBody/MultiDofDemo.cpp",
-		"../MultiBody/TestJointTorqueSetup.cpp",
-		"../MultiBody/Pendulum.cpp",
-		"../MultiBody/MultiBodySoftContact.cpp",
-		"../MultiBody/MultiBodyConstraintFeedback.cpp",
-		"../MultiBody/InvertedPendulumPDControl.cpp",
-		"../RigidBody/RigidBodySoftContact.cpp",
-		"../ThirdPartyLibs/stb_image/*",
-		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
-		"../ThirdPartyLibs/tinyxml/*",
 		"../Utils/b3ResourcePath.*",
-		"../GyroscopicDemo/GyroscopicSetup.cpp",
+		"GL_ShapeDrawer.cpp",
-		"../GyroscopicDemo/GyroscopicSetup.h",
+		"InProcessExampleBrowser.cpp",
-		"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
+	
-		"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
+   
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h",
-    "../ThirdPartyLibs/tinyxml/tinystr.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/printf_console.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/string_split.h",
 
 		}
 		
-		if (hasCL and findOpenGL3()) then
+		
-			files {
-				"../OpenCL/broadphase/*",
-				"../OpenCL/CommonOpenCL/*",
-				"../OpenCL/rigidbody/GpuConvexScene.cpp",
-				"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
-			}
-		end
 
 if os.is("Linux") then 
 	initX11()

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -17,8 +17,11 @@
 class ImportObjSetup : public CommonRigidBodyBase
 {
 
+    std::string m_fileName;
+   
+   
 public:
-    ImportObjSetup(struct GUIHelperInterface* helper);
+    ImportObjSetup(struct GUIHelperInterface* helper, const char* fileName);
     virtual ~ImportObjSetup();
     
 	virtual void initPhysics();
@@ -34,10 +37,16 @@ public:
 
 };
 
-ImportObjSetup::ImportObjSetup(struct GUIHelperInterface* helper)
+ImportObjSetup::ImportObjSetup(struct GUIHelperInterface* helper, const char* fileName)
 :CommonRigidBodyBase(helper)
 {
-    
+    if (fileName)
+    {
+        m_fileName = fileName;
+    } else
+    {
+        m_fileName = "cube.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+    }
 }
 
 ImportObjSetup::~ImportObjSetup()
@@ -59,9 +68,9 @@ void ImportObjSetup::initPhysics()
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
 
 
-   const char* fileName = "cube.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+   
         char relativeFileName[1024];
-        if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+        if (b3ResourcePath::findResourcePath(m_fileName.c_str(), relativeFileName, 1024))
         {
                 char pathPrefix[1024];
 
@@ -124,11 +133,6 @@ void ImportObjSetup::initPhysics()
 
 		}
 		
-		if (1)
-		{
-			
-		}
-
 		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
 		
 		//int id = 
@@ -138,12 +142,12 @@ void ImportObjSetup::initPhysics()
 	}}
         else
         {
-                b3Warning("Cannot find %s\n", fileName);
+                b3Warning("Cannot find %s\n", m_fileName.c_str());
         }
 
 }
 
  CommonExampleInterface*    ImportObjCreateFunc(struct CommonExampleOptions& options)
  {
-	 return new ImportObjSetup(options.m_guiHelper);
+	 return new ImportObjSetup(options.m_guiHelper, options.m_fileName);
  }

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -110,7 +110,7 @@ ImportSDFSetup::ImportSDFSetup(struct GUIHelperInterface* helper, int option, co
 
 		//load additional urdf file names from file
 
-		FILE* f = fopen("urdf_files.txt","r");
+		FILE* f = fopen("sdf_files.txt","r");
 		if (f)
 		{
 			int result;

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -11,9 +11,6 @@
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../../Utils/b3ResourcePath.h"
 
-#ifdef ENABLE_ROS_URDF
-#include "ROSURDFImporter.h"
-#endif
 #include "BulletUrdfImporter.h"
 
 
@@ -213,14 +210,6 @@ void ImportUrdfSetup::initPhysics()
 		b3Printf("using new URDF\n");
 		bla = new  BulletURDFImporter(m_guiHelper);
 	}
-#ifdef USE_ROS_URDF
- else
-	{
-		b3Printf("using ROS URDF\n");
-		bla = new ROSURDFImporter(m_guiHelper);
-	}
-  	newURDF = !newURDF;
-#endif//USE_ROS_URDF
 	URDFImporterInterface& u2b = *bla;
 	bool loadOk =  u2b.loadURDF(m_fileName);
 

examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp

@@ -1,905 +0,0 @@
-/* Copyright (C) 2015 Google
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#include "ROSURDFImporter.h"
-
-
-#include "URDFImporterInterface.h"
-#include "btBulletCollisionCommon.h"
-#include "../ImportObjDemo/LoadMeshFromObj.h"
-#include "../ImportSTLDemo/LoadMeshFromSTL.h"
-#include "../ImportColladaDemo/LoadMeshFromCollada.h"
-#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
-#include "../CommonInterfaces/CommonGUIHelperInterface.h"
-#include "Bullet3Common/b3FileUtils.h"
-#include <string>
-
-#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
-#include <iostream>
-#include <fstream>
-using namespace urdf;
-
-void ROSconvertURDFToVisualShape(const Visual* visual, const char* pathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut);
-btCollisionShape* ROSconvertURDFToCollisionShape(const Collision* visual, const char* pathPrefix);
-
-
-
-
-static void ROSprintTreeInternal(my_shared_ptr<const Link> link,int level = 0)
-{
-    level+=2;
-    int count = 0;
-    for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
-    {
-        if (*child)
-        {
-            for(int j=0;j<level;j++) std::cout << "  "; //indent
-            std::cout << "child(" << (count++)+1 << "):  " << (*child)->name  << std::endl;
-            // first grandchild
-            ROSprintTreeInternal(*child,level);
-        }
-        else
-        {
-            for(int j=0;j<level;j++) std::cout << " "; //indent
-            std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
-        }
-    }
-
-}
-
-
-
-
-struct ROSURDFInternalData
-{
-	my_shared_ptr<ModelInterface> m_robot;
-    std::vector<my_shared_ptr<Link> > m_links;
-	struct GUIHelperInterface* m_guiHelper;
-    char m_pathPrefix[1024];
-	
-};
-
-void ROSURDFImporter::printTree()
-{
-	ROSprintTreeInternal(m_data->m_robot->getRoot(),0);
-}
-
-enum MyFileType
-{
-	FILE_STL=1,
-	FILE_COLLADA=2,
-    FILE_OBJ=3,
-};
-
-
-    
-ROSURDFImporter::ROSURDFImporter(struct GUIHelperInterface* helper)
-{
-	m_data = new ROSURDFInternalData;
-	m_data->m_robot = 0;
-	m_data->m_guiHelper = helper;
-	m_data->m_pathPrefix[0]=0;
-
-
-  
-}
-
-bool ROSURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
-{
-
-
-//int argc=0;
-	char relativeFileName[1024];
-	
-	b3FileUtils fu;
-	
-	bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	
-	std::string xml_string;
-	m_data->m_pathPrefix[0] = 0;
-    
-    if (!fileFound){
-        std::cerr << "URDF file not found" << std::endl;
-		return false;
-    } else
-    {
-		
-		int maxPathLen = 1024;
-		fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
-
-
-        std::fstream xml_file(relativeFileName, std::fstream::in);
-        while ( xml_file.good() )
-        {
-            std::string line;
-            std::getline( xml_file, line);
-            xml_string += (line + "\n");
-        }
-        xml_file.close();
-    }
-
-    my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
-    if (!robot){
-        std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
-        return false;
-    }
-    std::cout << "robot name is: " << robot->getName() << std::endl;
-
-    // get info from parser
-    std::cout << "Successfully Parsed URDF" << std::endl;
-    // get root link
-    my_shared_ptr<const Link> root_link=robot->getRoot();
-    if (!root_link) 
-	{
-		std::cout << "Failed to find root link in URDF" << std::endl;
-		return false;
-	}
-
-
-	m_data->m_robot = robot;
-
-    m_data->m_robot->getLinks(m_data->m_links);
-        
-    //initialize the 'index' of each link
-    for (int i=0;i<(int)m_data->m_links.size();i++)
-    {
-        m_data->m_links[i]->m_link_index = i;
-    }
-
-	return true;
-}
-
-const char* ROSURDFImporter::getPathPrefix()
-{
-	return m_data->m_pathPrefix;
-}
-
-
-ROSURDFImporter::~ROSURDFImporter()
-{
-	delete m_data;
-}
-
-    
-int ROSURDFImporter::getRootLinkIndex() const
-{
-    if (m_data->m_links.size())
-    {
-        int rootLinkIndex = m_data->m_robot->getRoot()->m_link_index;
-        // btAssert(m_links[0]->m_link_index == rootLinkIndex);
-        return rootLinkIndex;
-    }
-    return -1;
-};
-    
-void ROSURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const
-{
-    childLinkIndices.resize(0);
-    int numChildren = m_data->m_links[linkIndex]->child_links.size();
-        
-    for (int i=0;i<numChildren;i++)
-    {
-        int childIndex =m_data->m_links[linkIndex]->child_links[i]->m_link_index;
-        childLinkIndices.push_back(childIndex);
-    }
-}
-
-std::string ROSURDFImporter::getLinkName(int linkIndex) const
-{
-    std::string n = m_data->m_links[linkIndex]->name;
-    return n;
-}
-    
-std::string ROSURDFImporter::getJointName(int linkIndex) const
-{
-    return m_data->m_links[linkIndex]->parent_joint->name;
-}
-    
-
-void  ROSURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
-{
-    if ((*m_data->m_links[linkIndex]).inertial)
-    {
-        mass = (*m_data->m_links[linkIndex]).inertial->mass;
-        localInertiaDiagonal.setValue((*m_data->m_links[linkIndex]).inertial->ixx,(*m_data->m_links[linkIndex]).inertial->iyy,(*m_data->m_links[linkIndex]).inertial->izz);
-        inertialFrame.setOrigin(btVector3((*m_data->m_links[linkIndex]).inertial->origin.position.x,(*m_data->m_links[linkIndex]).inertial->origin.position.y,(*m_data->m_links[linkIndex]).inertial->origin.position.z));
-        inertialFrame.setRotation(btQuaternion((*m_data->m_links[linkIndex]).inertial->origin.rotation.x,(*m_data->m_links[linkIndex]).inertial->origin.rotation.y,(*m_data->m_links[linkIndex]).inertial->origin.rotation.z,(*m_data->m_links[linkIndex]).inertial->origin.rotation.w));
-    } else
-    {
-        mass = 1.f;
-        localInertiaDiagonal.setValue(1,1,1);
-        inertialFrame.setIdentity();
-    }
-}
-    
-bool ROSURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
-{
-    jointLowerLimit = 0.f;
-    jointUpperLimit = 0.f;
-    jointDamping = 0.f;
-	jointFriction = 0.f;
-
-    if ((*m_data->m_links[urdfLinkIndex]).parent_joint)
-    {
-        my_shared_ptr<Joint> pj =(*m_data->m_links[urdfLinkIndex]).parent_joint;
-            
-        const urdf::Vector3 pos = pj->parent_to_joint_origin_transform.position;
-        const urdf::Rotation orn = pj->parent_to_joint_origin_transform.rotation;
-		jointDamping = pj->dynamics->damping;
-		jointFriction = pj->dynamics->friction;
-
-        jointAxisInJointSpace.setValue(pj->axis.x,pj->axis.y,pj->axis.z);
-        parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
-        parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
-
-        switch (pj->type)
-        {
-            case Joint::REVOLUTE:
-                jointType = URDFRevoluteJoint;
-                break;
-            case Joint::FIXED:
-                jointType = URDFFixedJoint;
-                break;
-            case Joint::PRISMATIC:
-                jointType = URDFPrismaticJoint;
-                break;
-            case Joint::PLANAR:
-                jointType = URDFPlanarJoint;
-                break;
-            case Joint::CONTINUOUS:
-				jointType = URDFContinuousJoint;
-                break;
-            default:
-            {
-                printf("Error: unknown joint type %d\n", pj->type);
-                btAssert(0);
-            }
-                    
-        };
-            
-        if (pj->limits)
-        {
-            jointLowerLimit = pj->limits.get()->lower;
-            jointUpperLimit = pj->limits.get()->upper;
-        }
-        return true;
-    } else
-    {
-        parent2joint.setIdentity();
-        return false;
-    }
-}
-
-bool ROSURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
-{
-}
-
-void ROSconvertURDFToVisualShape(const Visual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
-{
-
-	
-	GLInstanceGraphicsShape* glmesh = 0;
-
-	btConvexShape* convexColShape = 0;
-
-	switch (visual->geometry->type)
-	{
-		case Geometry::CYLINDER:
-		{
-			printf("processing a cylinder\n");
-			urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
-			btAlignedObjectArray<btVector3> vertices;
-		
-			//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
-			int numSteps = 32;
-			for (int i = 0; i<numSteps; i++)
-			{
-
-				btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i) / numSteps)), cyl->radius*btCos(SIMD_2_PI*(float(i) / numSteps)), cyl->length / 2.);
-				vertices.push_back(vert);
-				vert[2] = -cyl->length / 2.;
-				vertices.push_back(vert);
-			}
-
-			btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
-			cylZShape->setMargin(0.001);
-			convexColShape = cylZShape;
-			break;
-		}
-		case Geometry::BOX:
-		{
-			printf("processing a box\n");
-			urdf::Box* box = (urdf::Box*)visual->geometry.get();
-			btVector3 extents(box->dim.x, box->dim.y, box->dim.z);
-			btBoxShape* boxShape = new btBoxShape(extents*0.5f);
-			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
-			convexColShape = boxShape;
-			convexColShape->setMargin(0.001);
-			break;
-		}
-		case Geometry::SPHERE:
-		{
-			printf("processing a sphere\n");
-			urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
-			btScalar radius = sphere->radius;
-			btSphereShape* sphereShape = new btSphereShape(radius);
-			convexColShape = sphereShape;
-			convexColShape->setMargin(0.001);
-			break;
-
-			break;
-		}
-		case Geometry::MESH:
-		{
-			if (visual->name.length())
-			{
-				printf("visual->name=%s\n", visual->name.c_str());
-			}
-			if (visual->geometry)
-			{
-				const urdf::Mesh* mesh = (const urdf::Mesh*) visual->geometry.get();
-				if (mesh->filename.length())
-				{
-					const char* filename = mesh->filename.c_str();
-					printf("mesh->filename=%s\n", filename);
-					char fullPath[1024];
-					int fileType = 0;
-                    
-                    char tmpPathPrefix[1024];
-                    std::string xml_string;
-                    int maxPathLen = 1024;
-                    b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
-                   
-                    char visualPathPrefix[1024];
-                    sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
-                    
-                    
-					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
-					b3FileUtils::toLower(fullPath);
-					if (strstr(fullPath, ".dae"))
-					{
-						fileType = FILE_COLLADA;
-					}
-					if (strstr(fullPath, ".stl"))
-					{
-						fileType = FILE_STL;
-					}
-                    if (strstr(fullPath,".obj"))
-                    {
-                        fileType = FILE_OBJ;
-                    }
-
-
-					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
-					FILE* f = fopen(fullPath, "rb");
-					if (f)
-					{
-						fclose(f);
-						
-
-
-						switch (fileType)
-						{
-                            case FILE_OBJ:
-                            {
-                                glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
-                                break;
-                            }
-                           
-						case FILE_STL:
-						{
-							glmesh = LoadMeshFromSTL(fullPath);
-							break;
-						}
-						case FILE_COLLADA:
-						{
-
-							btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
-							btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
-							btTransform upAxisTrans; upAxisTrans.setIdentity();
-							float unitMeterScaling = 1;
-							int upAxis = 2;
-
-							LoadMeshFromCollada(fullPath,
-								visualShapes,
-								visualShapeInstances,
-								upAxisTrans,
-								unitMeterScaling,
-												upAxis);
-
-							glmesh = new GLInstanceGraphicsShape;
-							//int index = 0;
-							glmesh->m_indices = new b3AlignedObjectArray<int>();
-							glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-
-							for (int i = 0; i<visualShapeInstances.size(); i++)
-							{
-								ColladaGraphicsInstance* instance = &visualShapeInstances[i];
-								GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
-
-								b3AlignedObjectArray<GLInstanceVertex> verts;
-								verts.resize(gfxShape->m_vertices->size());
-
-								int baseIndex = glmesh->m_vertices->size();
-
-								for (int i = 0; i<gfxShape->m_vertices->size(); i++)
-								{
-									verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
-									verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
-									verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
-									verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
-									verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
-									verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
-									verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
-									verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
-									verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
-
-								}
-
-								int curNumIndices = glmesh->m_indices->size();
-								int additionalIndices = gfxShape->m_indices->size();
-								glmesh->m_indices->resize(curNumIndices + additionalIndices);
-								for (int k = 0; k<additionalIndices; k++)
-								{
-									glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
-								}
-
-								//compensate upAxisTrans and unitMeterScaling here
-								btMatrix4x4 upAxisMat;
-								upAxisMat.setIdentity();
-//								upAxisMat.setPureRotation(upAxisTrans.getRotation());
-								btMatrix4x4 unitMeterScalingMat;
-								unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
-								btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
-								//btMatrix4x4 worldMat = instance->m_worldTransform;
-								int curNumVertices = glmesh->m_vertices->size();
-								int additionalVertices = verts.size();
-								glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
-
-								for (int v = 0; v<verts.size(); v++)
-								{
-									btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
-									pos = worldMat*pos;
-									verts[v].xyzw[0] = float(pos[0]);
-									verts[v].xyzw[1] = float(pos[1]);
-									verts[v].xyzw[2] = float(pos[2]);
-									glmesh->m_vertices->push_back(verts[v]);
-								}
-							}
-							glmesh->m_numIndices = glmesh->m_indices->size();
-							glmesh->m_numvertices = glmesh->m_vertices->size();
-							//glmesh = LoadMeshFromCollada(fullPath);
-
-							break;
-						}
-						default:
-						{
-                            printf("Error: unsupported file type for Visual mesh: %s\n", fullPath);
-                            btAssert(0);
-						}
-						}
-
-
-						if (glmesh && (glmesh->m_numvertices>0))
-						{
-						}
-						else
-						{
-							printf("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
-						}
-
-					}
-					else
-					{
-						printf("mesh geometry not found %s\n", fullPath);
-					}
-
-
-				}
-			}
-
-
-			break;
-		}
-		default:
-		{
-			printf("Error: unknown visual geometry type\n");
-		}
-	}
-
-	//if we have a convex, tesselate into localVertices/localIndices
-	if (convexColShape)
-	{
-		btShapeHull* hull = new btShapeHull(convexColShape);
-		hull->buildHull(0.0);
-		{
-			//	int strideInBytes = 9*sizeof(float);
-			int numVertices = hull->numVertices();
-			int numIndices = hull->numIndices();
-
-			
-			glmesh = new GLInstanceGraphicsShape;
-		//	int index = 0;
-			glmesh->m_indices = new b3AlignedObjectArray<int>();
-			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-
-
-			for (int i = 0; i < numVertices; i++)
-			{
-				GLInstanceVertex vtx;
-				btVector3 pos = hull->getVertexPointer()[i];
-				vtx.xyzw[0] = pos.x();
-				vtx.xyzw[1] = pos.y();
-				vtx.xyzw[2] = pos.z();
-				vtx.xyzw[3] = 1.f;
-				pos.normalize();
-				vtx.normal[0] = pos.x();
-				vtx.normal[1] = pos.y();
-				vtx.normal[2] = pos.z();
-				vtx.uv[0] = 0.5f;
-				vtx.uv[1] = 0.5f;
-				glmesh->m_vertices->push_back(vtx);
-			}
-
-			btAlignedObjectArray<int> indices;
-			for (int i = 0; i < numIndices; i++)
-			{
-				glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
-			}
-			
-			glmesh->m_numvertices = glmesh->m_vertices->size();
-			glmesh->m_numIndices = glmesh->m_indices->size();
-		}
-		delete convexColShape;
-		convexColShape = 0;
-
-	}
-	
-	if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
-	{
-
-		int baseIndex = verticesOut.size();
-
-
-
-		for (int i = 0; i < glmesh->m_indices->size(); i++)
-		{
-			indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
-		}
-
-		for (int i = 0; i < glmesh->m_vertices->size(); i++)
-		{
-			GLInstanceVertex& v = glmesh->m_vertices->at(i);
-			btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
-			btVector3 vt = visualTransform*vert;
-			v.xyzw[0] = vt[0];
-			v.xyzw[1] = vt[1];
-			v.xyzw[2] = vt[2];
-			btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
-			triNormal = visualTransform.getBasis()*triNormal;
-			v.normal[0] = triNormal[0];
-			v.normal[1] = triNormal[1];
-			v.normal[2] = triNormal[2];
-			verticesOut.push_back(v);
-		}
-	}
-}
-
-
-
-
-btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const char* urdfPathPrefix)
-{
-	btCollisionShape* shape = 0;
-
-    switch (visual->geometry->type)
-    {
-        case Geometry::CYLINDER:
-        {
-            printf("processing a cylinder\n");
-            urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
-
-            btAlignedObjectArray<btVector3> vertices;
-            //int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
-            int numSteps = 32;
-            for (int i=0;i<numSteps;i++)
-            {
-
-                btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i)/numSteps)),cyl->radius*btCos(SIMD_2_PI*(float(i)/numSteps)),cyl->length/2.);
-                vertices.push_back(vert);
-                vert[2] = -cyl->length/2.;
-                vertices.push_back(vert);
-
-            }
-            btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
-            cylZShape->setMargin(0.001);
-			cylZShape->initializePolyhedralFeatures();
-			//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
-            
-            //btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
-            //btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
-            
-
-            shape = cylZShape;
-            break;
-        }
-        case Geometry::BOX:
-        {
-            printf("processing a box\n");
-            urdf::Box* box = (urdf::Box*)visual->geometry.get();
-            btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
-            btBoxShape* boxShape = new btBoxShape(extents*0.5f);
-			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
-            shape = boxShape;
-			shape ->setMargin(0.001);
-            break;
-        }
-        case Geometry::SPHERE:
-        {
-			printf("processing a sphere\n");
-            urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
-            btScalar radius = sphere->radius;
-			btSphereShape* sphereShape = new btSphereShape(radius);
-            shape = sphereShape;
-			shape ->setMargin(0.001);
-            break;
-
-            break;
-        }
-        case Geometry::MESH:
-        {
-			if (visual->name.length())
-			{
-				printf("visual->name=%s\n",visual->name.c_str());
-			}
-			if (visual->geometry)
-			{
-				const urdf::Mesh* mesh = (const urdf::Mesh*) visual->geometry.get();
-				if (mesh->filename.length())
-				{
-					const char* filename = mesh->filename.c_str();
-					printf("mesh->filename=%s\n",filename);
-					char fullPath[1024];
-					int fileType = 0;
-					sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
-					b3FileUtils::toLower(fullPath);
-                    char tmpPathPrefix[1024];
-                    int maxPathLen = 1024;
-                    b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
-                    
-                    char collisionPathPrefix[1024];
-                    sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
-                    
-                    
-                    
-					if (strstr(fullPath,".dae"))
-					{
-						fileType = FILE_COLLADA;
-					}
-					if (strstr(fullPath,".stl"))
-					{
-						fileType = FILE_STL;
-					}
-                    if (strstr(fullPath,".obj"))
-                   {
-                       fileType = FILE_OBJ;
-                   }
-
-					sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
-					FILE* f = fopen(fullPath,"rb");
-					if (f)
-					{
-						fclose(f);
-						GLInstanceGraphicsShape* glmesh = 0;
-						
-						
-						switch (fileType)
-						{
-                            case FILE_OBJ:
-                            {
-                                glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
-                                break;
-                            }
-						case FILE_STL:
-							{
-								glmesh = LoadMeshFromSTL(fullPath);
-							break;
-							}
-						case FILE_COLLADA:
-							{
-								
-								btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
-								btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
-								btTransform upAxisTrans;upAxisTrans.setIdentity();
-								float unitMeterScaling=1;
-								int upAxis = 2;
-								LoadMeshFromCollada(fullPath,
-													visualShapes, 
-													visualShapeInstances,
-													upAxisTrans,
-													unitMeterScaling,
-													upAxis );
-								
-								glmesh = new GLInstanceGraphicsShape;
-						//		int index = 0;
-								glmesh->m_indices = new b3AlignedObjectArray<int>();
-								glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-
-								for (int i=0;i<visualShapeInstances.size();i++)
-								{
-									ColladaGraphicsInstance* instance = &visualShapeInstances[i];
-									GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
-		
-									b3AlignedObjectArray<GLInstanceVertex> verts;
-									verts.resize(gfxShape->m_vertices->size());
-
-									int baseIndex = glmesh->m_vertices->size();
-
-									for (int i=0;i<gfxShape->m_vertices->size();i++)
-									{
-										verts[i].normal[0] = 	gfxShape->m_vertices->at(i).normal[0];
-										verts[i].normal[1] = 	gfxShape->m_vertices->at(i).normal[1];
-										verts[i].normal[2] = 	gfxShape->m_vertices->at(i).normal[2];
-										verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
-										verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
-										verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
-										verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
-										verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
-										verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
-
-									}
-
-									int curNumIndices = glmesh->m_indices->size();
-									int additionalIndices = gfxShape->m_indices->size();
-									glmesh->m_indices->resize(curNumIndices+additionalIndices);
-									for (int k=0;k<additionalIndices;k++)
-									{
-										glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
-									}
-			
-									//compensate upAxisTrans and unitMeterScaling here
-									btMatrix4x4 upAxisMat;
-									upAxisMat.setPureRotation(upAxisTrans.getRotation());
-									btMatrix4x4 unitMeterScalingMat;
-									unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
-									btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
-									//btMatrix4x4 worldMat = instance->m_worldTransform;
-									int curNumVertices = glmesh->m_vertices->size();
-									int additionalVertices = verts.size();
-									glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
-									
-									for(int v=0;v<verts.size();v++)
-									{
-										btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
-										pos = worldMat*pos;
-										verts[v].xyzw[0] = float(pos[0]);
-										verts[v].xyzw[1] = float(pos[1]);
-										verts[v].xyzw[2] = float(pos[2]);
-										glmesh->m_vertices->push_back(verts[v]);
-									}
-								}
-								glmesh->m_numIndices = glmesh->m_indices->size();
-								glmesh->m_numvertices = glmesh->m_vertices->size();
-								//glmesh = LoadMeshFromCollada(fullPath);
-
-								break;
-							}
-						default:
-							{
-                                printf("Unsupported file type in Collision: %s\n",fullPath);
-                                btAssert(0);
-							}
-						}
-					
-
-						if (glmesh && (glmesh->m_numvertices>0))
-						{
-							printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
-							//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
-							//convex->setUserIndex(shapeId);
-							btAlignedObjectArray<btVector3> convertedVerts;
-							convertedVerts.reserve(glmesh->m_numvertices);
-							for (int i=0;i<glmesh->m_numvertices;i++)
-							{
-								convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
-							}
-							//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
-							btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
-							//cylZShape->initializePolyhedralFeatures();
-							//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
-							//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
-							cylZShape->setMargin(0.001);
-							shape = cylZShape;
-						} else
-						{
-							printf("issue extracting mesh from STL file %s\n", fullPath);
-						}
-
-					} else
-					{
-						printf("mesh geometry not found %s\n",fullPath);
-					}
-							
-							
-				}
-			}
-
-					
-            break;
-        }
-        default:
-        {
-            printf("Error: unknown visual geometry type\n");
-        }
-    }
-	return shape;
-}
-
-
-
-
-int ROSURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
-{
-    btAlignedObjectArray<GLInstanceVertex> vertices;
-    btAlignedObjectArray<int> indices;
-    btTransform startTrans; startTrans.setIdentity();
-    int graphicsIndex = -1;
-        
-    for (int v = 0; v < (int)m_data->m_links[linkIndex]->visual_array.size(); v++)
-    {
-        const Visual* vis = m_data->m_links[linkIndex]->visual_array[v].get();
-        btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
-        btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
-        btTransform childTrans;
-        childTrans.setOrigin(childPos);
-        childTrans.setRotation(childOrn);
-            
-        ROSconvertURDFToVisualShape(vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
-            
-    }
-        
-    if (vertices.size() && indices.size())
-    {
-        graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
-    }
-        
-    return graphicsIndex;
-        
-}
-
- class btCompoundShape* ROSURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
-{
-        
-    btCompoundShape* compoundShape = new btCompoundShape();
-    compoundShape->setMargin(0.001);
-        
-    for (int v=0;v<(int)m_data->m_links[linkIndex]->collision_array.size();v++)
-    {
-        const Collision* col = m_data->m_links[linkIndex]->collision_array[v].get();
-        btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
-            
-        if (childShape)
-        {
-            btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
-            btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
-            btTransform childTrans;
-            childTrans.setOrigin(childPos);
-            childTrans.setRotation(childOrn);
-            compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
-                
-        }
-    }
-        
-    return compoundShape;
-}

examples/Importers/ImportURDFDemo/ROSURDFImporter.h

@@ -1,47 +0,0 @@
-#ifndef ROS_URDF_IMPORTER_H
-#define ROS_URDF_IMPORTER_H 
-
-#include "URDFImporterInterface.h"
-
-
-class ROSURDFImporter : public URDFImporterInterface
-{
-    
-	struct ROSURDFInternalData* m_data;
-    
-
-public:
-
-	ROSURDFImporter(struct GUIHelperInterface* guiHelper);
-
-	virtual ~ROSURDFImporter();
-
-	// Note that forceFixedBase is ignored in this implementation.
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
-
-	virtual const char* getPathPrefix();
-
-	void printTree(); //for debugging
-	
-	virtual int getRootLinkIndex() const;
-    
-    virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
-
-    virtual std::string getLinkName(int linkIndex) const;
-    
-    virtual std::string getJointName(int linkIndex) const;
-    
-    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
-
-    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit,btScalar& jointDamping, btScalar& jointFriction) const;
-    
-    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
-
-	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
-
-	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
-
-};
-
-
-#endif //ROS_URDF_IMPORTER_H

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -208,7 +208,7 @@ void InverseDynamicsExample::initPhysics()
         }
         // add joint target controls
         qd.resize(m_multiBody->getNumDofs());
-		qd[3]=B3_HALF_PI;
+		
         qd_name.resize(m_multiBody->getNumDofs());
        	q_name.resize(m_multiBody->getNumDofs()); 
 

examples/InverseDynamics/premake4.lua

@@ -69,6 +69,7 @@ files {
         "../StandaloneMain/main_opengl_single_example.cpp",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
 			"../Utils/b3ResourcePath.cpp",
 			"../Utils/b3ResourcePath.h",
 			"../RenderingExamples/TimeSeriesCanvas.cpp",
@@ -126,6 +127,7 @@ files {
         "../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
 	"../TinyRenderer/geometry.cpp",
 	"../TinyRenderer/model.cpp",
 	"../TinyRenderer/tgaimage.cpp",

examples/OpenGLWindow/X11OpenGLWindow.cpp

@@ -1095,7 +1095,7 @@ int   X11OpenGLWindow::getHeight() const
 int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
 {
 	int len = 0;
-	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
+	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.sdf\"  --file-filter=\"*.obj\"  --file-filter=\"*.*\"","r");
 	if (output)
 	{
 		while( fgets(filename, maxNameLength-1, output) != NULL )

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -0,0 +1,277 @@
+
+#include "RaytracerSetup.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../TinyRenderer/TinyRenderer.h"
+
+#include "../CommonInterfaces/Common2dCanvasInterface.h"
+//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
+//#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
+//#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btBulletCollisionCommon.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
+
+struct TinyRendererSetup : public CommonExampleInterface
+{
+	
+	struct CommonGraphicsApp* m_app;
+	struct TinyRendererSetupInternalData* m_internalData;
+
+	TinyRendererSetup(struct CommonGraphicsApp* app);
+
+	virtual ~TinyRendererSetup();
+
+	virtual void initPhysics();
+
+	virtual void exitPhysics();
+
+	virtual void stepSimulation(float deltaTime);
+
+
+	virtual void	physicsDebugDraw(int debugFlags);
+
+	virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
+
+	virtual bool	mouseMoveCallback(float x,float y);
+
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y);
+
+	virtual bool	keyboardCallback(int key, int state);
+
+	virtual void	renderScene()
+	{
+	}
+};
+
+struct TinyRendererSetupInternalData
+{
+	int m_canvasIndex;
+	struct Common2dCanvasInterface* m_canvas;
+	TGAImage m_rgbColorBuffer;
+	b3AlignedObjectArray<float> m_depthBuffer;
+
+
+	int m_width;
+	int m_height;
+
+	btAlignedObjectArray<btConvexShape*> m_shapePtr;
+	btAlignedObjectArray<btTransform> m_transforms;
+	btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
+
+	btVoronoiSimplexSolver	m_simplexSolver;
+	btScalar m_pitch;
+	btScalar m_roll;
+	btScalar m_yaw;
+	
+	TinyRendererSetupInternalData(int width, int height)
+		:m_canvasIndex(-1),
+		m_canvas(0),
+		m_roll(0),
+		m_pitch(0),
+		m_yaw(0),
+
+		m_width(width),
+		m_height(height),
+		m_rgbColorBuffer(width,height,TGAImage::RGB)
+	{
+		btConeShape* cone = new btConeShape(1,1);
+		btSphereShape* sphere = new btSphereShape(1);
+		btBoxShape* box = new btBoxShape (btVector3(1,1,1));
+		m_shapePtr.push_back(cone);
+		m_shapePtr.push_back(sphere);
+		m_shapePtr.push_back(box);
+		m_depthBuffer.resize(m_width*m_height);
+
+		for (int i=0;i<m_shapePtr.size();i++)
+		{
+			TinyRenderObjectData* ob = new TinyRenderObjectData(m_width,m_height,m_rgbColorBuffer,m_depthBuffer);
+			btAlignedObjectArray<btVector3> vertexPositions;
+			btAlignedObjectArray<btVector3> vertexNormals;
+			btAlignedObjectArray<int> indicesOut;
+			btTransform ident;
+			ident.setIdentity();
+			CollisionShape2TriangleMesh(m_shapePtr[i],ident,vertexPositions,vertexNormals,indicesOut);
+
+			m_renderObjects.push_back(ob);
+			ob->registerMesh2(vertexPositions,vertexNormals,indicesOut);
+		}
+		//ob->registerMeshShape(
+
+		
+		updateTransforms();
+	}
+	void updateTransforms()
+	{
+		int numObjects = m_shapePtr.size();
+		m_transforms.resize(numObjects);
+		for (int i=0;i<numObjects;i++)
+		{
+			m_transforms[i].setIdentity();
+			btVector3	pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
+			m_transforms[i].setIdentity();
+			m_transforms[i].setOrigin( pos );
+			btQuaternion orn;
+			if (i < 2)
+			{
+				orn.setEuler(m_yaw,m_pitch,m_roll);
+				m_transforms[i].setRotation(orn);
+			}
+		}
+		m_pitch += 0.005f;
+		m_yaw += 0.01f;
+	}
+
+};
+
+TinyRendererSetup::TinyRendererSetup(struct CommonGraphicsApp* app)
+{
+	m_app = app;
+	m_internalData = new TinyRendererSetupInternalData(128,128);
+}
+
+TinyRendererSetup::~TinyRendererSetup()
+{
+	delete m_internalData;
+}
+
+void TinyRendererSetup::initPhysics()
+{
+	//request a visual bitma/texture we can render to
+	
+	
+
+	m_internalData->m_canvas = m_app->m_2dCanvasInterface;
+	
+
+	if (m_internalData->m_canvas)
+	{
+		
+		m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("tinyrenderer",m_internalData->m_width,m_internalData->m_height);
+		for (int i=0;i<m_internalData->m_width;i++)
+		{
+			for (int j=0;j<m_internalData->m_height;j++)
+			{
+				unsigned char red=255;
+				unsigned char green=255;
+				unsigned char blue=255;
+				unsigned char alpha=255;
+				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
+			}
+		}
+		m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
+
+		//int bitmapId = gfxBridge.createRenderBitmap(width,height);
+	}
+	
+
+
+
+}
+
+
+void TinyRendererSetup::exitPhysics()
+{
+	
+	if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
+	{
+		m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
+	}
+}
+
+
+void TinyRendererSetup::stepSimulation(float deltaTime)
+{
+
+	m_internalData->updateTransforms();
+
+	TGAColor clearColor;
+	clearColor.bgra[0] = 255;
+	clearColor.bgra[1] = 255;
+	clearColor.bgra[2] = 255;
+	clearColor.bgra[3] = 255;
+	for(int y=0;y<m_internalData->m_height;++y)
+	{
+		for(int x=0;x<m_internalData->m_width;++x)
+		{
+			m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
+			m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
+		}
+	}
+
+
+	ATTRIBUTE_ALIGNED16(float modelMat[16]);
+	ATTRIBUTE_ALIGNED16(float viewMat[16]);
+	CommonRenderInterface* render = this->m_app->m_renderer;
+	render->getActiveCamera()->getCameraViewMatrix(viewMat);
+		
+
+	
+	for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
+	{
+		
+		const btTransform& tr = m_internalData->m_transforms[o];
+		tr.getOpenGLMatrix(modelMat);
+				
+		for (int i=0;i<4;i++)
+		{
+			for (int j=0;j<4;j++)
+			{
+				m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = modelMat[i+4*j];
+				m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
+			}
+		}
+		TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
+	}
+
+	for(int y=0;y<m_internalData->m_height;++y)
+	{
+		for(int x=0;x<m_internalData->m_width;++x)
+		{
+				
+			const TGAColor& color = m_internalData->m_rgbColorBuffer.get(x,y);
+			m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,(m_internalData->m_height-1-y),
+				color.bgra[2],color.bgra[1],color.bgra[0],255);
+		}
+	} 
+
+    //m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
+		
+	m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
+}
+
+
+void    TinyRendererSetup::physicsDebugDraw(int debugDrawFlags)
+{
+}
+
+bool	TinyRendererSetup::mouseMoveCallback(float x,float y)
+{
+	return false;
+}
+
+bool	TinyRendererSetup::mouseButtonCallback(int button, int state, float x, float y)
+{
+	return false;
+}
+
+bool	TinyRendererSetup::keyboardCallback(int key, int state)
+{
+	return false;
+}
+
+
+void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
+{
+}
+
+ CommonExampleInterface*    TinyRendererCreateFunc(struct CommonExampleOptions& options)
+ {
+	 return new TinyRendererSetup(options.m_guiHelper->getAppInterface());
+ }

examples/RenderingExamples/TinyRendererSetup.h

@@ -0,0 +1,6 @@
+#ifndef TINYRENDERER_SETUP_H
+#define TINYRENDERER_SETUP_H
+
+class CommonExampleInterface*    TinyRendererCreateFunc(struct CommonExampleOptions& options);
+
+#endif //TINYRENDERER_SETUP_H

examples/SharedMemory/premake4.lua

@@ -67,26 +67,10 @@ files {
 	"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 	"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
-	  "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
-                "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
-    "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h",
-    "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h",
     "../ThirdPartyLibs/tinyxml/tinystr.cpp",
     "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
     "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
     "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/printf_console.h",
-    "../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
-    "../ThirdPartyLibs/urdf/boost_replacement/string_split.h",
 
 }
 

examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h

@@ -1,27 +0,0 @@
-#ifndef BOOST_REPLACEMENT_LEXICAL_CAST_H
-#define BOOST_REPLACEMENT_LEXICAL_CAST_H
-
-#include <stdlib.h>
-
-namespace boost
-{
-
-	template <typename T> T lexical_cast(const char* txt)
-	{
-		double result = atof(txt);
-		return result;
-	};
-
-	struct bad_lexical_cast
-	{
-		const char* what()
-		{
-		return ("bad lexical cast\n");
-		}
-		
-	};
-	
-} //namespace boost
-
-#endif
-

examples/ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp

@@ -1,28 +0,0 @@
-#include "printf_console.h"
-#include <stdio.h>
-
-
-void logError(const char* msg, const char* arg0, const char* arg1, const char* arg2)
-{
-	printf("%s %s %s %s\n", msg,arg0,arg1,arg2);
-
-}
-	
-void logDebug(const char* msg, float v0, float v1)
-{
-	printf("%s %f %f\n", msg, v0, v1);
-};
-void logDebug(const char* msg, const char* msg1, const char* arg1)
-{
-	printf("%s %s %s\n", msg, msg1, arg1);
-
-}
-
-void logInform(const char* msg, const char* arg0)
-{
-	printf("%s %s\n", msg, arg0);
-}
-void logWarn(const char* msg,int id, const char* arg0)
-{
-	printf("%s %d %s\n", msg,id,arg0);
-}

examples/ThirdPartyLibs/urdf/boost_replacement/printf_console.h

@@ -1,13 +0,0 @@
-#ifndef PRINTF_CONSOLE_H
-#define PRINTF_CONSOLE_H
-
-
-void logError(const char* msg="", const char* arg0="", const char* arg1="", const char* arg2="");
-void logDebug(const char* msg, float v0, float v1);
-void logDebug(const char* msg, const char* msg1="", const char* arg1="");
-void logInform(const char* msg, const char* arg0="");
-void logWarn(const char* msg,int id, const char* arg0="");
-
-#endif
-
-

examples/ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h

@@ -1,210 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library Maya Plugin
-Copyright (c) 2008 Walt Disney Studios
- 
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising
-from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
- 
-1. The origin of this software must not be misrepresented; you must
-not claim that you wrote the original software. If you use this
-software in a product, an acknowledgment in the product documentation
-would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must
-not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
- 
-Written by: Nicola Candussi <nicola@fluidinteractive.com>
-
-Modified by Francisco Gochez
-Dec 2011 - Added deferencing operator
-*/
-
-//my_shared_ptr
-
-#ifndef DYN_SHARED_PTR_H
-#define DYN_SHARED_PTR_H
-
-#define DYN_SHARED_PTR_THREAD_SAFE
-
-
-#include <assert.h>
-
-#ifdef _WIN32
-#include <windows.h>
-
-class my_shared_count {
-public:
-    my_shared_count(): m_count(1) {   }
-    ~my_shared_count() {    }
-
-    long increment()
-    {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        return InterlockedIncrement(&m_count);
-#else
-        return ++m_count;
-#endif
-    }
-
-    long decrement() {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        return InterlockedDecrement(&m_count);
-#else
-        return ++m_count;
-#endif
-    }
-
-    long use_count() { return m_count;  }
-
-private:
-    long m_count;
-};
-#else //ifdef WIN32
-
-
-#include <pthread.h>
-
-class my_shared_count {
-public:
-    my_shared_count(): m_count(1) {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_init(&m_mutex, 0);
-#endif
-    }
-    ~my_shared_count() {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_destroy(&m_mutex);
-#endif
-    }
-
-    long increment()
-    {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_lock(&m_mutex);
-#endif
-        long c = ++m_count;  
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_unlock(&m_mutex);
-#endif
-        return c;
-     }
-
-    long decrement() {
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_lock(&m_mutex);
-#endif
-        long c = --m_count;  
-#ifdef DYN_SHARED_PTR_THREAD_SAFE
-        pthread_mutex_unlock(&m_mutex);
-#endif
-        return c;
-    }
-
-    long use_count() { return m_count;  }
-
-private:
-    long m_count;
-    mutable pthread_mutex_t m_mutex;
-};
-
-#endif
-
-
-template<typename T>
-class my_shared_ptr
-{
-public:
-    my_shared_ptr(): m_ptr(NULL), m_count(NULL) { }
-    my_shared_ptr(my_shared_ptr<T> const& other):
-            m_ptr(other.m_ptr),
-            m_count(other.m_count)
-    {
-        if(other.m_count != NULL) other.m_count->increment();
-    }
-
-    template<typename U>
-    my_shared_ptr(my_shared_ptr<U> const& other):
-            m_ptr(other.m_ptr),
-            m_count(other.m_count)
-    {
-        if(other.m_count != NULL)  other.m_count->increment();
-    }
-
-    my_shared_ptr(T const* other): m_ptr(const_cast<T*>(other)), m_count(NULL)
-    {
-        if(other != NULL) m_count = new my_shared_count;
-    }
-
-    ~my_shared_ptr() 
-    {
-        giveup_ownership();
-    }
-
-    void reset(T const* other) 
-    {
-        if(m_ptr == other) return;
-        giveup_ownership();
-        m_ptr = const_cast<T*>(other);
-        if(other != NULL) m_count = new my_shared_count;
-        else m_count = NULL;
-    }
-
-    T* get() { return m_ptr; }
-    T const* get() const { return m_ptr; }
-    T* operator->() {   return m_ptr; }
-    T const* operator->() const { return m_ptr; }
-    operator bool() const { return m_ptr != NULL; }
-	T& operator*() const
-	{ 
-		assert(m_ptr != 0);
-		return *m_ptr;
-	}
-
-    bool operator<(my_shared_ptr<T> const& rhs) const { return m_ptr < rhs.m_ptr; }
-
-    my_shared_ptr<T>& operator=(my_shared_ptr<T> const& other) {
-        if(m_ptr == other.m_ptr) return *this;
-        giveup_ownership();
-        m_ptr = other.m_ptr;
-        m_count = other.m_count;
-        if(other.m_count != NULL) m_count->increment();
-        return *this;
-    }
-
-    template<typename U> 
-    my_shared_ptr<T>& operator=(my_shared_ptr<U>& other) {
-        if(m_ptr == other.m_ptr) return *this;
-        giveup_ownership();
-        m_ptr = other.m_ptr;
-        m_count = other.m_count;
-        if(other.m_count != NULL) m_count->increment();
-        return *this;
-    }
-
-protected:
-
-    template<typename U> friend class my_shared_ptr;
-    void giveup_ownership()
-    {
-        if(m_count != NULL) {
-            if( m_count->decrement() == 0) {
-                delete m_ptr;
-                m_ptr = NULL;
-                delete m_count;
-                m_count = NULL;
-            }
-        }
-    }
-
-protected:
-    T               *m_ptr;
-    my_shared_count    *m_count;
-
-};
-
-
-#endif

examples/ThirdPartyLibs/urdf/boost_replacement/string_split.cpp

@@ -1,253 +0,0 @@
-
-
-#include <assert.h>
-//#include <stdbool.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "string_split.h"
-
-namespace boost
-{
-        void split( std::vector<std::string>&pieces, const std::string& vector_str, std::vector<std::string> separators)
-	{
-		assert(separators.size()==1);
-		if (separators.size()==1)
-		{
-			char** strArray = str_split(vector_str.c_str(),separators[0].c_str());
-			int numSubStr = str_array_len(strArray);
-			for (int i=0;i<numSubStr;i++)
-				pieces.push_back(std::string(strArray[i]));
-			str_array_free(strArray);
-		}
-	}
-        std::vector<std::string> is_any_of(const char* seps)
-	{
-		std::vector<std::string> strArray;
-
-		int numSeps = strlen(seps);
-		for (int i=0;i<numSeps;i++)
-		{
-			char sep2[2] = {0,0};
-			
-			sep2[0] = seps[i];
-			strArray.push_back(sep2);
-		}
-		return strArray;
-		
-	}
-};
-
-
-
-/* Append an item to a dynamically allocated array of strings. On failure,
- return NULL, in which case the original array is intact. The item
- string is dynamically copied. If the array is NULL, allocate a new
- array. Otherwise, extend the array. Make sure the array is always
- NULL-terminated. Input string might not be '\0'-terminated. */
-char **str_array_append(char **array, size_t nitems, const char *item,
-                        size_t itemlen)
-{
-    /* Make a dynamic copy of the item. */
-    char *copy;
-    if (item == NULL)
-        copy = NULL;
-    else {
-        copy = (char*)malloc(itemlen + 1);
-        if (copy == NULL)
-            return NULL;
-        memcpy(copy, item, itemlen);
-        copy[itemlen] = '\0';
-    }
-	
-    /* Extend array with one element. Except extend it by two elements,
-	 in case it did not yet exist. This might mean it is a teeny bit
-	 too big, but we don't care. */
-    array = (char**)realloc(array, (nitems + 2) * sizeof(array[0]));
-    if (array == NULL) {
-        free(copy);
-        return NULL;
-    }
-	
-    /* Add copy of item to array, and return it. */
-    array[nitems] = copy;
-    array[nitems+1] = NULL;
-    return array;
-}
-
-
-/* Free a dynamic array of dynamic strings. */
-void str_array_free(char **array)
-{
-    if (array == NULL)
-        return;
-    for (size_t i = 0; array[i] != NULL; ++i)
-        free(array[i]);
-    free(array);
-}
-
-
-/* Split a string into substrings. Return dynamic array of dynamically
- allocated substrings, or NULL if there was an error. Caller is
- expected to free the memory, for example with str_array_free. */
-char **str_split(const char *input, const char *sep)
-{
-    size_t nitems = 0;
-    char **array = NULL;
-    const char *start = input;
-    const char *next = strstr(start, sep);
-    size_t seplen = strlen(sep);
-    const char *item;
-    size_t itemlen;
-	
-    for (;;) {
-        next = strstr(start, sep);
-        if (next == NULL) {
-            /* Add the remaining string (or empty string, if input ends with
-			 separator. */
-            char **newstr = str_array_append(array, nitems, start, strlen(start));
-            if (newstr == NULL) {
-                str_array_free(array);
-                return NULL;
-            }
-            array = newstr;
-            ++nitems;
-            break;
-        } else if (next == input) {
-            /* Input starts with separator. */
-            item = "";
-            itemlen = 0;
-        } else {
-            item = start;
-            itemlen = next - item;
-        }
-        char **newstr = str_array_append(array, nitems, item, itemlen);
-        if (newstr == NULL) {
-            str_array_free(array);
-            return NULL;
-        }
-        array = newstr;
-        ++nitems;
-        start = next + seplen;
-    }
-	
-    if (nitems == 0) {
-        /* Input does not contain separator at all. */
-        assert(array == NULL);
-        array = str_array_append(array, nitems, input, strlen(input));
-    }
-	
-    return array;
-}
-
-
-/* Return length of a NULL-delimited array of strings. */
-size_t str_array_len(char **array)
-{
-    size_t len;
-	
-    for (len = 0; array[len] != NULL; ++len)
-        continue;
-    return len;
-}
-
-#ifdef UNIT_TEST_STRING
-
-#define MAX_OUTPUT 20
-
-
-int main(void)
-{
-    struct {
-        const char *input;
-        const char *sep;
-        char *output[MAX_OUTPUT];
-    } tab[] = {
-        /* Input is empty string. Output should be a list with an empty
-		 string. */
-        {
-            "",
-            "and",
-            {
-                "",
-                NULL,
-            },
-        },
-        /* Input is exactly the separator. Output should be two empty
-		 strings. */
-        {
-            "and",
-            "and",
-            {
-                "",
-                "",
-                NULL,
-            },
-        },
-        /* Input is non-empty, but does not have separator. Output should
-		 be the same string. */
-        {
-            "foo",
-            "and",
-            {
-                "foo",
-                NULL,
-            },
-        },
-        /* Input is non-empty, and does have separator. */
-        {
-            "foo bar 1 and foo bar 2",
-            " and ",
-            {
-                "foo bar 1",
-                "foo bar 2",
-                NULL,
-            },
-        },
-    };
-    const int tab_len = sizeof(tab) / sizeof(tab[0]);
-    bool errors;
-	
-    errors = false;
-	
-    for (int i = 0; i < tab_len; ++i) {
-        printf("test %d\n", i);
-		
-        char **output = str_split(tab[i].input, tab[i].sep);
-        if (output == NULL) {
-            fprintf(stderr, "output is NULL\n");
-            errors = true;
-            break;
-        }
-        size_t num_output = str_array_len(output);
-        printf("num_output %lu\n", (unsigned long) num_output);
-		
-        size_t num_correct = str_array_len(tab[i].output);
-        if (num_output != num_correct) {
-            fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n",
-                    (unsigned long) num_output, (unsigned long) num_correct);
-            errors = true;
-        } else {
-            for (size_t j = 0; j < num_output; ++j) {
-                if (strcmp(tab[i].output[j], output[j]) != 0) {
-                    fprintf(stderr, "output[%lu] is '%s' not '%s'\n",
-                            (unsigned long) j, output[j], tab[i].output[j]);
-                    errors = true;
-                    break;
-                }
-            }
-        }
-		
-        str_array_free(output);
-        printf("\n");
-    }
-	
-    if (errors)
-        return EXIT_FAILURE;
-    return 0;
-}
-
-#endif//
-
-

examples/ThirdPartyLibs/urdf/boost_replacement/string_split.h

@@ -1,31 +0,0 @@
-
-#ifndef STRING_SPLIT_H
-#define STRING_SPLIT_H
-
-#include <cstring>
-#include <vector>
-#include <string>
-
-namespace boost
-{
-	void split( std::vector<std::string>&pieces, const std::string& vector_str, std::vector<std::string> separators);
-	std::vector<std::string> is_any_of(const char* seps);
-};
-
-///The string split C code is by Lars Wirzenius
-///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
-
-
-/* Split a string into substrings. Return dynamic array of dynamically
- allocated substrings, or NULL if there was an error. Caller is
- expected to free the memory, for example with str_array_free. */
-char**	str_split(const char* input, const char* sep);
-
-/* Free a dynamic array of dynamic strings. */
-void str_array_free(char** array);
-
-/* Return length of a NULL-delimited array of strings. */
-size_t str_array_len(char** array);
-
-#endif //STRING_SPLIT_H
-

examples/ThirdPartyLibs/urdf/premake4.lua

@@ -1,46 +0,0 @@
-
-	
-		project "urdf_test"
-
-		flags {"FloatStrict"}
-		
-		language "C++"
-				
-		kind "ConsoleApp"
-		targetdir "../../bin"
-
---		links {
---		}
-
-		includedirs {
-		".",
-		"..",
-
-		}
-
-	
-		files {
-			"urdfdom/urdf_parser/src/check_urdf.cpp",	
-			"urdfdom/urdf_parser/src/pose.cpp",
-			"urdfdom/urdf_parser/src/model.cpp",
-			"urdfdom/urdf_parser/src/link.cpp",
-			"urdfdom/urdf_parser/src/joint.cpp",
-			"urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
-			"urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",	
-                	"urdfdom_headers/urdf_model/include/urdf_model/pose.h",
-			"urdfdom_headers/urdf_model/include/urdf_model/model.h",
-			"urdfdom_headers/urdf_model/include/urdf_model/link.h",
-			"urdfdom_headers/urdf_model/include/urdf_model/joint.h",
-			"../tinyxml/tinystr.cpp",
-			"../tinyxml/tinyxml.cpp",
-			"../tinyxml/tinyxmlerror.cpp",
-			"../tinyxml/tinyxmlparser.cpp",
-			"boost_replacement/lexical_cast.h",
-			"boost_replacement/shared_ptr.h",
-			"boost_replacement/printf_console.cpp",
-			"boost_replacement/printf_console.h",
-			"boost_replacement/string_split.cpp",
-			"boost_replacement/string_split.h",
-			
-
-		}

examples/ThirdPartyLibs/urdf/urdfdom/LICENSE

@@ -1,15 +0,0 @@
-Software License Agreement (Apache License)
-
-Copyright 2011 John Hsu
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-    http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.

examples/ThirdPartyLibs/urdf/urdfdom/README.txt

@@ -1,7 +0,0 @@
-The URDF (U-Robot Description Format) library
-  provides core data structures and a simple XML parsers
-  for populating the class data structures from an URDF file.
-
-For now, the details of the URDF specifications reside on
-  http://ros.org/wiki/urdf
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h

@@ -1,63 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#ifndef URDF_PARSER_URDF_PARSER_H
-#define URDF_PARSER_URDF_PARSER_H
-
-#include <string>
-
-#include <map>
-#include "tinyxml/tinyxml.h"
-
-//#include <boost/function.hpp>
-
-#ifndef M_PI
-#define M_PI 3.1415925438
-#endif //M_PI
-
-
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h>
-
-
-
-
-namespace urdf{
-
-  my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string);
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/check_urdf.cpp

@@ -1,137 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
-#include <iostream>
-#include <fstream>
-
-using namespace urdf;
-
-void printTree(my_shared_ptr<const Link> link,int level = 0)
-{
-  level+=2;
-  int count = 0;
-  for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
-  {
-    if (*child)
-    {
-      for(int j=0;j<level;j++) std::cout << "  "; //indent
-      std::cout << "child(" << (count++)+1 << "):  " << (*child)->name  << std::endl;
-      // first grandchild
-      printTree(*child,level);
-    }
-    else
-    {
-      for(int j=0;j<level;j++) std::cout << " "; //indent
-      std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
-    }
-  }
-
-}
-
-
-#define MSTRINGIFY(A) #A
-
-
-const char* urdf_char = MSTRINGIFY(
-<robot name="test_robot">
-<link name="link1" />
-<link name="link2" />
-<link name="link3" />
-<link name="link4" />
-
-<joint name="joint1" type="continuous">
-<parent link="link1"/>
-<child link="link2"/>
-</joint>
-
-<joint name="joint2" type="continuous">
-<parent link="link1"/>
-<child link="link3"/>
-</joint>
-
-<joint name="joint3" type="continuous">
-<parent link="link3"/>
-<child link="link4"/>
-</joint>
-</robot>);
-
-
-int main(int argc, char** argv)
-{
-    
-  std::string xml_string;
-    
-  if (argc < 2){
-    std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
-
-      xml_string = std::string(urdf_char);
-      
-  } else
-  {
-
-      
-      std::fstream xml_file(argv[1], std::fstream::in);
-      while ( xml_file.good() )
-      {
-        std::string line;
-        std::getline( xml_file, line);
-        xml_string += (line + "\n");
-      }
-      xml_file.close();
-  }
-    
-  my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
-  if (!robot){
-    std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
-    return -1;
-  }
-  std::cout << "robot name is: " << robot->getName() << std::endl;
-
-  // get info from parser
-  std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
-  // get root link
-  my_shared_ptr<const Link> root_link=robot->getRoot();
-  if (!root_link) return -1;
-
-  std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;
-
-
-  // print entire tree
-  printTree(root_link);
-  return 0;
-}
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp

@@ -1,579 +0,0 @@
-/*********************************************************************
-* Software Ligcense 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-#include <sstream>
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h>
-#ifdef URDF_USE_BOOST
-#include <boost/lexical_cast.hpp>
-#else
-#include <urdf/boost_replacement/lexical_cast.h>
-#endif
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
-
-#ifdef URDF_USE_CONSOLE_BRIDGE
-	#include <console_bridge/console.h>
-#else
-	#include "urdf/boost_replacement/printf_console.h"
-#endif
-
-#include <tinyxml/tinyxml.h>
-#include <urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h>
-
-namespace urdf{
-
-bool parsePose(Pose &pose, TiXmlElement* xml);
-
-bool parseJointDynamics(JointDynamics &jd, TiXmlElement* config)
-{
-  jd.clear();
-
-  // Get joint damping
-  const char* damping_str = config->Attribute("damping");
-  if (damping_str == NULL){
-    logDebug("urdfdom.joint_dynamics: no damping, defaults to 0");
-    jd.damping = 0;
-  }
-  else
-  {
-    try
-    {
-      jd.damping = boost::lexical_cast<double>(damping_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("damping value (%s) is not a float: %s",damping_str, e.what());
-      return false;
-    }
-  }
-
-  // Get joint friction
-  const char* friction_str = config->Attribute("friction");
-  if (friction_str == NULL){
-    logDebug("urdfdom.joint_dynamics: no friction, defaults to 0");
-    jd.friction = 0;
-  }
-  else
-  {
-    try
-    {
-      jd.friction = boost::lexical_cast<double>(friction_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("friction value (%s) is not a float: %s",friction_str, e.what());
-      return false;
-    }
-  }
-
-  if (damping_str == NULL && friction_str == NULL)
-  {
-    logError("joint dynamics element specified with no damping and no friction");
-    return false;
-  }
-  else{
-    logDebug("urdfdom.joint_dynamics: damping %f and friction %f", jd.damping, jd.friction);
-    return true;
-  }
-}
-
-bool parseJointLimits(JointLimits &jl, TiXmlElement* config)
-{
-  jl.clear();
-
-  // Get lower joint limit
-  const char* lower_str = config->Attribute("lower");
-  if (lower_str == NULL){
-    logDebug("urdfdom.joint_limit: no lower, defaults to 0");
-    jl.lower = 0;
-  }
-  else
-  {
-    try
-    {
-      jl.lower = boost::lexical_cast<double>(lower_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("lower value (%s) is not a float: %s", lower_str, e.what());
-      return false;
-    }
-  }
-
-  // Get upper joint limit
-  const char* upper_str = config->Attribute("upper");
-  if (upper_str == NULL){
-    logDebug("urdfdom.joint_limit: no upper, , defaults to 0");
-    jl.upper = 0;
-  }
-  else
-  {
-    try
-    {
-      jl.upper = boost::lexical_cast<double>(upper_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("upper value (%s) is not a float: %s",upper_str, e.what());
-      return false;
-    }
-  }
-
-  // Get joint effort limit
-  const char* effort_str = config->Attribute("effort");
-  if (effort_str == NULL){
-    logError("joint limit: no effort");
-    return false;
-  }
-  else
-  {
-    try
-    {
-      jl.effort = boost::lexical_cast<double>(effort_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("effort value (%s) is not a float: %s",effort_str, e.what());
-      return false;
-    }
-  }
-
-  // Get joint velocity limit
-  const char* velocity_str = config->Attribute("velocity");
-  if (velocity_str == NULL){
-    logError("joint limit: no velocity");
-    return false;
-  }
-  else
-  {
-    try
-    {
-      jl.velocity = boost::lexical_cast<double>(velocity_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("velocity value (%s) is not a float: %s",velocity_str, e.what());
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool parseJointSafety(JointSafety &js, TiXmlElement* config)
-{
-  js.clear();
-
-  // Get soft_lower_limit joint limit
-  const char* soft_lower_limit_str = config->Attribute("soft_lower_limit");
-  if (soft_lower_limit_str == NULL)
-  {
-    logDebug("urdfdom.joint_safety: no soft_lower_limit, using default value");
-    js.soft_lower_limit = 0;
-  }
-  else
-  {
-    try
-    {
-      js.soft_lower_limit = boost::lexical_cast<double>(soft_lower_limit_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("soft_lower_limit value (%s) is not a float: %s",soft_lower_limit_str, e.what());
-      return false;
-    }
-  }
-
-  // Get soft_upper_limit joint limit
-  const char* soft_upper_limit_str = config->Attribute("soft_upper_limit");
-  if (soft_upper_limit_str == NULL)
-  {
-    logDebug("urdfdom.joint_safety: no soft_upper_limit, using default value");
-    js.soft_upper_limit = 0;
-  }
-  else
-  {
-    try
-    {
-      js.soft_upper_limit = boost::lexical_cast<double>(soft_upper_limit_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("soft_upper_limit value (%s) is not a float: %s",soft_upper_limit_str, e.what());
-      return false;
-    }
-  }
-
-  // Get k_position_ safety "position" gain - not exactly position gain
-  const char* k_position_str = config->Attribute("k_position");
-  if (k_position_str == NULL)
-  {
-    logDebug("urdfdom.joint_safety: no k_position, using default value");
-    js.k_position = 0;
-  }
-  else
-  {
-    try
-    {
-      js.k_position = boost::lexical_cast<double>(k_position_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("k_position value (%s) is not a float: %s",k_position_str, e.what());
-      return false;
-    }
-  }
-  // Get k_velocity_ safety velocity gain
-  const char* k_velocity_str = config->Attribute("k_velocity");
-  if (k_velocity_str == NULL)
-  {
-    logError("joint safety: no k_velocity");
-    return false;
-  }
-  else
-  {
-    try
-    {
-      js.k_velocity = boost::lexical_cast<double>(k_velocity_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("k_velocity value (%s) is not a float: %s",k_velocity_str, e.what());
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool parseJointCalibration(JointCalibration &jc, TiXmlElement* config)
-{
-  jc.clear();
-
-  // Get rising edge position
-  const char* rising_position_str = config->Attribute("rising");
-  if (rising_position_str == NULL)
-  {
-    logDebug("urdfdom.joint_calibration: no rising, using default value");
-    jc.rising.reset(0);
-  }
-  else
-  {
-    try
-    {
-      jc.rising.reset(new double(boost::lexical_cast<double>(rising_position_str)));
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("risingvalue (%s) is not a float: %s",rising_position_str, e.what());
-      return false;
-    }
-  }
-
-  // Get falling edge position
-  const char* falling_position_str = config->Attribute("falling");
-  if (falling_position_str == NULL)
-  {
-    logDebug("urdfdom.joint_calibration: no falling, using default value");
-    jc.falling.reset(0);
-  }
-  else
-  {
-    try
-    {
-      jc.falling.reset(new double(boost::lexical_cast<double>(falling_position_str)));
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("fallingvalue (%s) is not a float: %s",falling_position_str, e.what());
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool parseJointMimic(JointMimic &jm, TiXmlElement* config)
-{
-  jm.clear();
-
-  // Get name of joint to mimic
-  const char* joint_name_str = config->Attribute("joint");
-
-  if (joint_name_str == NULL)
-  {
-    logError("joint mimic: no mimic joint specified");
-    return false;
-  }
-  else
-    jm.joint_name = joint_name_str;
-  
-  // Get mimic multiplier
-  const char* multiplier_str = config->Attribute("multiplier");
-
-  if (multiplier_str == NULL)
-  {
-    logDebug("urdfdom.joint_mimic: no multiplier, using default value of 1");
-    jm.multiplier = 1;    
-  }
-  else
-  {
-    try
-    {
-      jm.multiplier = boost::lexical_cast<double>(multiplier_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("multiplier value (%s) is not a float: %s",multiplier_str, e.what());
-      return false;
-    }
-  }
-
-  
-  // Get mimic offset
-  const char* offset_str = config->Attribute("offset");
-  if (offset_str == NULL)
-  {
-    logDebug("urdfdom.joint_mimic: no offset, using default value of 0");
-    jm.offset = 0;
-  }
-  else
-  {
-    try
-    {
-      jm.offset = boost::lexical_cast<double>(offset_str);
-    }
-    catch (boost::bad_lexical_cast &e)
-    {
-      logError("offset value (%s) is not a float: %s",offset_str, e.what());
-      return false;
-    }
-  }
-
-  return true;
-}
-
-bool parseJoint(Joint &joint, TiXmlElement* config)
-{
-  joint.clear();
-
-  // Get Joint Name
-  const char *name = config->Attribute("name");
-  if (!name)
-  {
-    logError("unnamed joint found");
-    return false;
-  }
-  joint.name = name;
-
-  // Get transform from Parent Link to Joint Frame
-  TiXmlElement *origin_xml = config->FirstChildElement("origin");
-  if (!origin_xml)
-  {
-    logDebug("urdfdom: Joint [%s] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", joint.name.c_str());
-    joint.parent_to_joint_origin_transform.clear();
-  }
-  else
-  {
-    if (!parsePose(joint.parent_to_joint_origin_transform, origin_xml))
-    {
-      joint.parent_to_joint_origin_transform.clear();
-      logError("Malformed parent origin element for joint [%s]", joint.name.c_str());
-      return false;
-    }
-  }
-
-  // Get Parent Link
-  TiXmlElement *parent_xml = config->FirstChildElement("parent");
-  if (parent_xml)
-  {
-    const char *pname = parent_xml->Attribute("link");
-    if (!pname)
-    {
-      logInform("no parent link name specified for Joint link [%s]. this might be the root?", joint.name.c_str());
-    }
-    else
-    {
-      joint.parent_link_name = std::string(pname);
-    }
-  }
-
-  // Get Child Link
-  TiXmlElement *child_xml = config->FirstChildElement("child");
-  if (child_xml)
-  {
-    const char *pname = child_xml->Attribute("link");
-    if (!pname)
-    {
-      logInform("no child link name specified for Joint link [%s].", joint.name.c_str());
-    }
-    else
-    {
-      joint.child_link_name = std::string(pname);
-    }
-  }
-
-  // Get Joint type
-  const char* type_char = config->Attribute("type");
-  if (!type_char)
-  {
-    logError("joint [%s] has no type, check to see if it's a reference.", joint.name.c_str());
-    return false;
-  }
-  
-  std::string type_str = type_char;
-  if (type_str == "planar")
-    joint.type = Joint::PLANAR;
-  else if (type_str == "floating")
-    joint.type = Joint::FLOATING;
-  else if (type_str == "revolute")
-    joint.type = Joint::REVOLUTE;
-  else if (type_str == "continuous")
-    joint.type = Joint::CONTINUOUS;
-  else if (type_str == "prismatic")
-    joint.type = Joint::PRISMATIC;
-  else if (type_str == "fixed")
-    joint.type = Joint::FIXED;
-  else
-  {
-    logError("Joint [%s] has no known type [%s]", joint.name.c_str(), type_str.c_str());
-    return false;
-  }
-
-  // Get Joint Axis
-  if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED)
-  {
-    // axis
-    TiXmlElement *axis_xml = config->FirstChildElement("axis");
-    if (!axis_xml){
-      logDebug("urdfdom: no axis elemement for Joint link [%s], defaulting to (1,0,0) axis", joint.name.c_str());
-      joint.axis = Vector3(1.0, 0.0, 0.0);
-    }
-    else{
-      if (axis_xml->Attribute("xyz")){
-        try {
-          joint.axis.init(axis_xml->Attribute("xyz"));
-        }
-        catch (ParseError &e) {
-          joint.axis.clear();
-          logError("Malformed axis element for joint [%s]: %s", joint.name.c_str(), e.what());
-          return false;
-        }
-      }
-    }
-  }
-
-  // Get limit
-  TiXmlElement *limit_xml = config->FirstChildElement("limit");
-  if (limit_xml)
-  {
-    joint.limits.reset(new JointLimits());
-    if (!parseJointLimits(*joint.limits, limit_xml))
-    {
-      logError("Could not parse limit element for joint [%s]", joint.name.c_str());
-      joint.limits.reset(0);
-      return false;
-    }
-  }
-  else if (joint.type == Joint::REVOLUTE)
-  {
-    logError("Joint [%s] is of type REVOLUTE but it does not specify limits", joint.name.c_str());
-    return false;
-  }
-  else if (joint.type == Joint::PRISMATIC)
-  {
-    logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str()); 
-    return false;
-  }
-
-  // Get safety
-  TiXmlElement *safety_xml = config->FirstChildElement("safety_controller");
-  if (safety_xml)
-  {
-    joint.safety.reset(new JointSafety());
-    if (!parseJointSafety(*joint.safety, safety_xml))
-    {
-      logError("Could not parse safety element for joint [%s]", joint.name.c_str());
-      joint.safety.reset(0);
-      return false;
-    }
-  }
-
-  // Get calibration
-  TiXmlElement *calibration_xml = config->FirstChildElement("calibration");
-  if (calibration_xml)
-  {
-    joint.calibration.reset(new JointCalibration());
-    if (!parseJointCalibration(*joint.calibration, calibration_xml))
-    {
-      logError("Could not parse calibration element for joint  [%s]", joint.name.c_str());
-      joint.calibration.reset(0);
-      return false;
-    }
-  }
-
-  // Get Joint Mimic
-  TiXmlElement *mimic_xml = config->FirstChildElement("mimic");
-  if (mimic_xml)
-  {
-    joint.mimic.reset(new JointMimic());
-    if (!parseJointMimic(*joint.mimic, mimic_xml))
-    {
-      logError("Could not parse mimic element for joint  [%s]", joint.name.c_str());
-      joint.mimic.reset(0);
-      return false;
-    }
-  }
-
-  // Get Dynamics
-  TiXmlElement *prop_xml = config->FirstChildElement("dynamics");
-  if (prop_xml)
-  {
-    joint.dynamics.reset(new JointDynamics());
-    if (!parseJointDynamics(*joint.dynamics, prop_xml))
-    {
-      logError("Could not parse joint_dynamics element for joint [%s]", joint.name.c_str());
-      joint.dynamics.reset(0);
-      return false;
-    }
-  }
-
-  return true;
-}
-
-
-
-
-}

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp

@@ -1,506 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-
-#include <urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h>
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h>
-//#include <fstream>
-//#include <sstream>
-#ifdef URDF_USE_BOOST
-#include <boost/lexical_cast.hpp>
-#else
-#include <urdf/boost_replacement/lexical_cast.h>
-#endif
-
-#include <algorithm>
-#include <tinyxml/tinyxml.h>
-#ifdef URDF_USE_CONSOLE_BRIDGE
-#include <console_bridge/console.h>
-#else
-#include "urdf/boost_replacement/printf_console.h"
-#endif
-
-
-
-namespace urdf{
-
-bool parsePose(Pose &pose, TiXmlElement* xml);
-
-bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok)
-{
-  bool has_rgb = false;
-  bool has_filename = false;
-
-  material.clear();
-
-  if (!config->Attribute("name"))
-  {
-    logError("Material must contain a name attribute");
-    return false;
-  }
-  
-  material.name = config->Attribute("name");
-
-  // texture
-  TiXmlElement *t = config->FirstChildElement("texture");
-	
-  if (t)
-  {
-    if (t->Attribute("filename"))
-    {
-      material.texture_filename = t->Attribute("filename");
-      has_filename = true;
-    }
-  }
-
-  // color
-  TiXmlElement *c = config->FirstChildElement("color");
-  if (c)
-  {
-    if (c->Attribute("rgba")) {
-
-      try {
-        material.color.init(c->Attribute("rgba"));
-        has_rgb = true;
-      }
-      catch (ParseError &e) {  
-        material.color.clear();
-        logError(std::string("Material [" + material.name + "] has malformed color rgba values: " + e.what()).c_str());
-      }
-    }
-  }
-
-  if (!has_rgb && !has_filename) {
-    if (!only_name_is_ok) // no need for an error if only name is ok
-    {
-      if (!has_rgb) logError(std::string("Material ["+material.name+"] color has no rgba").c_str());
-      if (!has_filename) logError(std::string("Material ["+material.name+"] not defined in file").c_str());
-    }
-    return false;
-  }
-  return true;
-}
-
-
-bool parseSphere(Sphere &s, TiXmlElement *c)
-{
-  s.clear();
-
-  s.type = Geometry::SPHERE;
-  if (!c->Attribute("radius"))
-  {
-    logError("Sphere shape must have a radius attribute");
-    return false;
-  }
-
-  try
-  {
-    s.radius = boost::lexical_cast<double>(c->Attribute("radius"));
-  }
-  catch (boost::bad_lexical_cast &e)
-  {
-   // std::stringstream stm;
-   // stm << "radius [" << c->Attribute("radius") << "] is not a valid float: " << e.what();
-   // logError(stm.str().c_str());
-      logError("radius issue");
-    return false;
-  }
-  
-  return true;
-}
-
-bool parseBox(Box &b, TiXmlElement *c)
-{
-  b.clear();
-  
-  b.type = Geometry::BOX;
-  if (!c->Attribute("size"))
-  {
-    logError("Box shape has no size attribute");
-    return false;
-  }
-  try
-  {
-    b.dim.init(c->Attribute("size"));
-  }
-  catch (ParseError &e)
-  {
-    b.dim.clear();
-    logError(e.what());
-    return false;
-  }
-  return true;
-}
-
-bool parseCylinder(Cylinder &y, TiXmlElement *c)
-{
-  y.clear();
-
-  y.type = Geometry::CYLINDER;
-  if (!c->Attribute("length") ||
-      !c->Attribute("radius"))
-  {
-    logError("Cylinder shape must have both length and radius attributes");
-    return false;
-  }
-
-  try
-  {
-    y.length = boost::lexical_cast<double>(c->Attribute("length"));
-  }
-  catch (boost::bad_lexical_cast &e)
-  {
-  //  std::stringstream stm;
-   // stm << "length [" << c->Attribute("length") << "] is not a valid float";
-    //logError(stm.str().c_str());
-      logError("length");
-      return false;
-  }
-
-  try
-  {
-    y.radius = boost::lexical_cast<double>(c->Attribute("radius"));
-  }
-  catch (boost::bad_lexical_cast &e)
-  {
- //   std::stringstream stm;
-   // stm << "radius [" << c->Attribute("radius") << "] is not a valid float";
-    //logError(stm.str().c_str());
-      logError("radius");
-      return false;
-  }
-  return true;
-}
-
-
-bool parseMesh(Mesh &m, TiXmlElement *c)
-{
-  m.clear();
-
-  m.type = Geometry::MESH;
-  if (!c->Attribute("filename")) {
-    logError("Mesh must contain a filename attribute");
-    return false;
-  }
-
-  m.filename = c->Attribute("filename");
-
-  if (c->Attribute("scale")) {
-    try {
-      m.scale.init(c->Attribute("scale"));
-    }
-    catch (ParseError &e) {
-      m.scale.clear();
-      logError("Mesh scale was specified, but could not be parsed: %s", e.what());
-      return false;
-    }
-  }
-  else
-  {
-    m.scale.x = m.scale.y = m.scale.z = 1;
-  }
-  return true;
-}
-
-my_shared_ptr<Geometry> parseGeometry(TiXmlElement *g)
-{
-  my_shared_ptr<Geometry> geom;
-  if (!g) return geom;
-
-  TiXmlElement *shape = g->FirstChildElement();
-  if (!shape)
-  {
-    logError("Geometry tag contains no child element.");
-    return geom;
-  }
-
-  const std::string type_name = shape->ValueTStr().c_str();
-  if (type_name == "sphere")
-  {
-    Sphere *s = new Sphere();
-    geom.reset(s);
-    if (parseSphere(*s, shape))
-      return geom;
-  }
-  else if (type_name == "box")
-  {
-    Box *b = new Box();
-    geom.reset(b);
-    if (parseBox(*b, shape))
-      return geom;
-  }
-  else if (type_name == "cylinder")
-  {
-    Cylinder *c = new Cylinder();
-    geom.reset(c);
-    if (parseCylinder(*c, shape))
-      return geom;
-  }
-  else if (type_name == "mesh")
-  {
-    Mesh *m = new Mesh();
-    geom.reset(m);
-    if (parseMesh(*m, shape))
-      return geom;    
-  }
-  else
-  {
-    logError("Unknown geometry type '%s'", type_name.c_str());
-    return geom;
-  }
-  
-  return my_shared_ptr<Geometry>();
-}
-
-bool parseInertial(Inertial &i, TiXmlElement *config)
-{
-  i.clear();
-
-  // Origin
-  TiXmlElement *o = config->FirstChildElement("origin");
-  if (o)
-  {
-    if (!parsePose(i.origin, o))
-      return false;
-  }
-
-  TiXmlElement *mass_xml = config->FirstChildElement("mass");
-  if (!mass_xml)
-  {
-    logError("Inertial element must have a mass element");
-    return false;
-  }
-  if (!mass_xml->Attribute("value"))
-  {
-    logError("Inertial: mass element must have value attribute");
-    return false;
-  }
-
-  try
-  {
-    i.mass = boost::lexical_cast<double>(mass_xml->Attribute("value"));
-  }
-  catch (boost::bad_lexical_cast &e)
-  {
-  //  std::stringstream stm;
-   // stm << "Inertial: mass [" << mass_xml->Attribute("value")
-    //    << "] is not a float";
-    //logError(stm.str().c_str());
-      logError("Inertial mass issue");
-      return false;
-  }
-
-  TiXmlElement *inertia_xml = config->FirstChildElement("inertia");
-  if (!inertia_xml)
-  {
-    logError("Inertial element must have inertia element");
-    return false;
-  }
-  if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") &&
-        inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
-        inertia_xml->Attribute("izz")))
-  {
-    logError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
-    return false;
-  }
-  try
-  {
-    i.ixx  = boost::lexical_cast<double>(inertia_xml->Attribute("ixx"));
-    i.ixy  = boost::lexical_cast<double>(inertia_xml->Attribute("ixy"));
-    i.ixz  = boost::lexical_cast<double>(inertia_xml->Attribute("ixz"));
-    i.iyy  = boost::lexical_cast<double>(inertia_xml->Attribute("iyy"));
-    i.iyz  = boost::lexical_cast<double>(inertia_xml->Attribute("iyz"));
-    i.izz  = boost::lexical_cast<double>(inertia_xml->Attribute("izz"));
-  }
-  catch (boost::bad_lexical_cast &e)
-  {
-   /* std::stringstream stm;
-    stm << "Inertial: one of the inertia elements is not a valid double:"
-        << " ixx [" << inertia_xml->Attribute("ixx") << "]"
-        << " ixy [" << inertia_xml->Attribute("ixy") << "]"
-        << " ixz [" << inertia_xml->Attribute("ixz") << "]"
-        << " iyy [" << inertia_xml->Attribute("iyy") << "]"
-        << " iyz [" << inertia_xml->Attribute("iyz") << "]"
-        << " izz [" << inertia_xml->Attribute("izz") << "]";
-    logError(stm.str().c_str());
-    */
-      logError("Inertia error");
-      
-    return false;
-  }
-  return true;
-}
-
-bool parseVisual(Visual &vis, TiXmlElement *config)
-{
-  vis.clear();
-
-  // Origin
-  TiXmlElement *o = config->FirstChildElement("origin");
-  if (o) {
-    if (!parsePose(vis.origin, o))
-      return false;
-  }
-
-  // Geometry
-  TiXmlElement *geom = config->FirstChildElement("geometry");
-  vis.geometry = parseGeometry(geom);
-  if (!vis.geometry)
-    return false;
-
-  const char *name_char = config->Attribute("name");
-  if (name_char)
-    vis.name = name_char;
-
-  // Material
-  TiXmlElement *mat = config->FirstChildElement("material");
-  if (mat) {
-    // get material name
-    if (!mat->Attribute("name")) {
-      logError("Visual material must contain a name attribute");
-      return false;
-    }
-    vis.material_name = mat->Attribute("name");
-    
-    // try to parse material element in place
-    vis.material.reset(new Material());
-    if (!parseMaterial(*vis.material, mat, true))
-    {
-      logDebug("urdfdom: material has only name, actual material definition may be in the model");
-    }
-  }
-  
-  return true;
-}
-
-bool parseCollision(Collision &col, TiXmlElement* config)
-{  
-  col.clear();
-
-  // Origin
-  TiXmlElement *o = config->FirstChildElement("origin");
-  if (o) {
-    if (!parsePose(col.origin, o))
-      return false;
-  }
-  
-  // Geometry
-  TiXmlElement *geom = config->FirstChildElement("geometry");
-  col.geometry = parseGeometry(geom);
-  if (!col.geometry)
-    return false;
-
-  const char *name_char = config->Attribute("name");
-  if (name_char)
-    col.name = name_char;
-
-  return true;
-}
-
-bool parseLink(Link &link, TiXmlElement* config)
-{
-  
-  link.clear();
-
-  const char *name_char = config->Attribute("name");
-  if (!name_char)
-  {
-    logError("No name given for the link.");
-    return false;
-  }
-  link.name = std::string(name_char);
-
-  // Inertial (optional)
-  TiXmlElement *i = config->FirstChildElement("inertial");
-  if (i)
-  {
-    link.inertial.reset(new Inertial());
-    if (!parseInertial(*link.inertial, i))
-    {
-      logError("Could not parse inertial element for Link [%s]", link.name.c_str());
-      return false;
-    }
-  }
-
-  // Multiple Visuals (optional)
-  for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
-  {
-
-    my_shared_ptr<Visual> vis;
-    vis.reset(new Visual());
-    if (parseVisual(*vis, vis_xml))
-    {
-      link.visual_array.push_back(vis);
-    }
-    else
-    {
-      vis.reset(0);
-      logError("Could not parse visual element for Link [%s]", link.name.c_str());
-      return false;
-    }
-  }
-
-  // Visual (optional)
-  // Assign the first visual to the .visual ptr, if it exists
-  if (!link.visual_array.empty())
-    link.visual = link.visual_array[0];
-  
-  // Multiple Collisions (optional)
-  for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
-  {
-    my_shared_ptr<Collision> col;
-    col.reset(new Collision());
-    if (parseCollision(*col, col_xml))
-    {      
-      link.collision_array.push_back(col);
-    }
-    else
-    {
-      col.reset(0);
-      logError("Could not parse collision element for Link [%s]",  link.name.c_str());
-      return false;
-    }
-  }
-  
-  // Collision (optional)  
-  // Assign the first collision to the .collision ptr, if it exists
-  if (!link.collision_array.empty())
-    link.collision = link.collision_array[0];
-  return true;
-
-}
-
-}

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp

@@ -1,240 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-//#include <boost/algorithm/string.hpp>
-#include <vector>
-#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
-#ifdef URDF_USE_CONSOLE_BRIDGE
-	#include <console_bridge/console.h>
-#else
-	#include "urdf/boost_replacement/printf_console.h"
-#endif
-
-namespace urdf{
-
-bool parseMaterial(Material &material, TiXmlElement *config, bool only_name_is_ok);
-bool parseLink(Link &link, TiXmlElement *config);
-bool parseJoint(Joint &joint, TiXmlElement *config);
-
-
-my_shared_ptr<ModelInterface>  parseURDF(const std::string &xml_string)
-{
-  my_shared_ptr<ModelInterface> model(new ModelInterface);
-  model->clear();
-
-  TiXmlDocument xml_doc;
-  xml_doc.Parse(xml_string.c_str());
-  if (xml_doc.Error())
-  {
-    logError(xml_doc.ErrorDesc());
-    xml_doc.ClearError();
-    model.reset(0);
-    return model;
-  }
-
-  TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot");
-  if (!robot_xml)
-  {
-    logError("Could not find the 'robot' element in the xml file");
-    model.reset(0);
-    return model;
-  }
-
-  // Get robot name
-  const char *name = robot_xml->Attribute("name");
-  if (!name)
-  {
-    logError("No name given for the robot.");
-    model.reset(0);
-    return model;
-  }
-  model->name_ = std::string(name);
-
-  // Get all Material elements
-  for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
-  {
-    my_shared_ptr<Material> material;
-    material.reset(new Material);
-
-    try {
-      parseMaterial(*material, material_xml, false); // material needs to be fully defined here
-      if (model->getMaterial(material->name))
-      {
-        logError("material '%s' is not unique.", material->name.c_str());
-        material.reset(0);
-        model.reset(0);
-        return model;
-      }
-      else
-      {
-        model->materials_.insert(make_pair(material->name,material));
-        logDebug("urdfdom: successfully added a new material '%s'", material->name.c_str());
-      }
-    }
-    catch (ParseError &e) {
-      logError("material xml is not initialized correctly");
-      material.reset(0);
-      model.reset(0);
-      return model;
-    }
-  }
-
-  // Get all Link elements
-  for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
-  {
-    my_shared_ptr<Link> link;
-    link.reset(new Link);
-	model->m_numLinks++;
-
-    try {
-      parseLink(*link, link_xml);
-      if (model->getLink(link->name))
-      {
-        logError("link '%s' is not unique.", link->name.c_str());
-        model.reset(0);
-        return model;
-      }
-      else
-      {
-        // set link visual material
-        logDebug("urdfdom: setting link '%s' material", link->name.c_str());
-        if (link->visual)
-        {
-          if (!link->visual->material_name.empty())
-          {
-            if (model->getMaterial(link->visual->material_name))
-            {
-              logDebug("urdfdom: setting link '%s' material to '%s'", link->name.c_str(),link->visual->material_name.c_str());
-              link->visual->material = model->getMaterial( link->visual->material_name.c_str() );
-            }
-            else
-            {
-              if (link->visual->material)
-              {
-                logDebug("urdfdom: link '%s' material '%s' defined in Visual.", link->name.c_str(),link->visual->material_name.c_str());
-                model->materials_.insert(make_pair(link->visual->material->name,link->visual->material));
-              }
-              else
-              {
-                logError("link '%s' material '%s' undefined.", link->name.c_str(),link->visual->material_name.c_str());
-                model.reset(0);
-                return model;
-              }
-            }
-          }
-        }
-
-        model->links_.insert(make_pair(link->name,link));
-        logDebug("urdfdom: successfully added a new link '%s'", link->name.c_str());
-      }
-    }
-    catch (ParseError &e) {
-      logError("link xml is not initialized correctly");
-      model.reset(0);
-      return model;
-    }
-  }
-  if (model->links_.empty()){
-    logError("No link elements found in urdf file");
-    model.reset(0);
-    return model;
-  }
-
-  // Get all Joint elements
-  for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
-  {
-    my_shared_ptr<Joint> joint;
-    joint.reset(new Joint);
-	model->m_numJoints++;
-
-    if (parseJoint(*joint, joint_xml))
-    {
-      if (model->getJoint(joint->name))
-      {
-        logError("joint '%s' is not unique.", joint->name.c_str());
-        model.reset(0);
-        return model;
-      }
-      else
-      {
-        model->joints_.insert(make_pair(joint->name,joint));
-        logDebug("urdfdom: successfully added a new joint '%s'", joint->name.c_str());
-      }
-    }
-    else
-    {
-      logError("joint xml is not initialized correctly");
-      model.reset(0);
-      return model;
-    }
-  }
-
-
-  // every link has children links and joints, but no parents, so we create a
-  // local convenience data structure for keeping child->parent relations
-  std::map<std::string, std::string> parent_link_tree;
-  parent_link_tree.clear();
-
-  // building tree: name mapping
-  try 
-  {
-    model->initTree(parent_link_tree);
-  }
-  catch(ParseError &e)
-  {
-    logError("Failed to build tree: %s", e.what());
-    model.reset(0);
-    return model;
-  }
-
-  // find the root link
-  try
-  {
-    model->initRoot(parent_link_tree);
-  }
-  catch(ParseError &e)
-  {
-    logError("Failed to find root link: %s", e.what());
-    model.reset(0);
-    return model;
-  }
-  
-  return model;
-}
-
-
-
-}
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp

@@ -1,91 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen, John Hsu */
-
-
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
-#include <fstream>
-#include <sstream>
-//#include <boost/lexical_cast.hpp>
-#include <algorithm>
-
-#ifdef URDF_USE_CONSOLE_BRIDGE
-#include <console_bridge/console.h>
-#else
-#include "urdf/boost_replacement/printf_console.h"
-#endif
-
-#include <tinyxml/tinyxml.h>
-#include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
-
-
-namespace urdf{
-
-bool parsePose(Pose &pose, TiXmlElement* xml)
-{
-  pose.clear();
-  if (xml)
-  {
-    const char* xyz_str = xml->Attribute("xyz");
-    if (xyz_str != NULL)
-    {
-      try {
-        pose.position.init(xyz_str);
-      }
-      catch (ParseError &e) {
-        logError(e.what());
-        return false;
-      }
-    }
-
-    const char* rpy_str = xml->Attribute("rpy");
-    if (rpy_str != NULL)
-    {
-      try {
-        pose.rotation.init(rpy_str);
-      }
-      catch (ParseError &e) {
-        logError(e.what());
-        return false;
-      }
-    }
-  }
-  return true;
-}
-
-
-}
-
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/twist.cpp

@@ -1,85 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h>
-#include <fstream>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <algorithm>
-#include <tinyxml.h>
-#include <console_bridge/console.h>
-
-namespace urdf{
-
-bool parseTwist(Twist &twist, TiXmlElement* xml)
-{
-  twist.clear();
-  if (xml)
-  {
-    const char* linear_char = xml->Attribute("linear");
-    if (linear_char != NULL)
-    {
-      try {
-        twist.linear.init(linear_char);
-      }
-      catch (ParseError &e) {
-        twist.linear.clear();
-        logError("Malformed linear string [%s]: %s", linear_char, e.what());
-        return false;
-      }
-    }
-
-    const char* angular_char = xml->Attribute("angular");
-    if (angular_char != NULL)
-    {
-      try {
-        twist.angular.init(angular_char);
-      }
-      catch (ParseError &e) {
-        twist.angular.clear();
-        logError("Malformed angular [%s]: %s", angular_char, e.what());
-        return false;
-      }
-    }
-  }
-  return true;
-}
-
-}
-
-
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/urdf_model_state.cpp

@@ -1,154 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-
-#include <urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h>
-#include <fstream>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <algorithm>
-#include <tinyxml.h>
-#include <console_bridge/console.h>
-
-namespace urdf{
-
-bool parseModelState(ModelState &ms, TiXmlElement* config)
-{
-  ms.clear();
-
-  const char *name_char = config->Attribute("name");
-  if (!name_char)
-  {
-    logError("No name given for the model_state.");
-    return false;
-  }
-  ms.name = std::string(name_char);
-
-  const char *time_stamp_char = config->Attribute("time_stamp");
-  if (time_stamp_char)
-  {
-    try {
-      double sec = boost::lexical_cast<double>(time_stamp_char);
-      ms.time_stamp.set(sec);
-    }
-    catch (boost::bad_lexical_cast &e) {
-      logError("Parsing time stamp [%s] failed: %s", time_stamp_char, e.what());
-      return false;
-    }
-  }
-
-  TiXmlElement *joint_state_elem = config->FirstChildElement("joint_state");
-  if (joint_state_elem)
-  {
-    boost::shared_ptr<JointState> joint_state;
-    joint_state.reset(new JointState());
-
-    const char *joint_char = joint_state_elem->Attribute("joint");
-    if (joint_char)
-      joint_state->joint = std::string(joint_char);
-    else
-    {
-      logError("No joint name given for the model_state.");
-      return false;
-    }
-    
-    // parse position
-    const char *position_char = joint_state_elem->Attribute("position");
-    if (position_char)
-    {
-
-      std::vector<std::string> pieces;
-      boost::split( pieces, position_char, boost::is_any_of(" "));
-      for (unsigned int i = 0; i < pieces.size(); ++i){
-        if (pieces[i] != ""){
-          try {
-            joint_state->position.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
-          }
-          catch (boost::bad_lexical_cast &e) {
-            throw ParseError("position element ("+ pieces[i] +") is not a valid float");
-          }
-        }
-      }
-    }
-
-    // parse velocity
-    const char *velocity_char = joint_state_elem->Attribute("velocity");
-    if (velocity_char)
-    {
-
-      std::vector<std::string> pieces;
-      boost::split( pieces, velocity_char, boost::is_any_of(" "));
-      for (unsigned int i = 0; i < pieces.size(); ++i){
-        if (pieces[i] != ""){
-          try {
-            joint_state->velocity.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
-          }
-          catch (boost::bad_lexical_cast &e) {
-            throw ParseError("velocity element ("+ pieces[i] +") is not a valid float");
-          }
-        }
-      }
-    }
-
-    // parse effort
-    const char *effort_char = joint_state_elem->Attribute("effort");
-    if (effort_char)
-    {
-
-      std::vector<std::string> pieces;
-      boost::split( pieces, effort_char, boost::is_any_of(" "));
-      for (unsigned int i = 0; i < pieces.size(); ++i){
-        if (pieces[i] != ""){
-          try {
-            joint_state->effort.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
-          }
-          catch (boost::bad_lexical_cast &e) {
-            throw ParseError("effort element ("+ pieces[i] +") is not a valid float");
-          }
-        }
-      }
-    }
-
-    // add to vector
-    ms.joint_states.push_back(joint_state);
-  }
-};
-
-
-
-}
-
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/urdf_sensor.cpp

@@ -1,364 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-
-#include <urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h>
-#include <fstream>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <algorithm>
-#include <tinyxml.h>
-#include <console_bridge/console.h>
-
-namespace urdf{
-
-bool parsePose(Pose &pose, TiXmlElement* xml);
-
-bool parseCamera(Camera &camera, TiXmlElement* config)
-{
-  camera.clear();
-  camera.type = VisualSensor::CAMERA;
-
-  TiXmlElement *image = config->FirstChildElement("image");
-  if (image)
-  {
-    const char* width_char = image->Attribute("width");
-    if (width_char)
-    {
-      try
-      {
-        camera.width = boost::lexical_cast<unsigned int>(width_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Camera image width [%s] is not a valid int: %s", width_char, e.what());
-        return false;
-      }
-    }
-    else
-    {
-      logError("Camera sensor needs an image width attribute");
-      return false;
-    }
-
-    const char* height_char = image->Attribute("height");
-    if (height_char)
-    {
-      try
-      {
-        camera.height = boost::lexical_cast<unsigned int>(height_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Camera image height [%s] is not a valid int: %s", height_char, e.what());
-        return false;
-      }
-    }
-    else
-    {
-      logError("Camera sensor needs an image height attribute");
-      return false;
-    }
-
-    const char* format_char = image->Attribute("format");
-    if (format_char)
-      camera.format = std::string(format_char);
-    else
-    {
-      logError("Camera sensor needs an image format attribute");
-      return false;
-    }    
-
-    const char* hfov_char = image->Attribute("hfov");
-    if (hfov_char)
-    {
-      try
-      {
-        camera.hfov = boost::lexical_cast<double>(hfov_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Camera image hfov [%s] is not a valid float: %s", hfov_char, e.what());
-        return false;
-      }
-    }
-    else
-    {
-      logError("Camera sensor needs an image hfov attribute");
-      return false;
-    }
-
-    const char* near_char = image->Attribute("near");
-    if (near_char)
-    {
-      try
-      {
-        camera.near = boost::lexical_cast<double>(near_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Camera image near [%s] is not a valid float: %s", near_char, e.what());
-        return false;
-      }
-    }
-    else
-    {
-      logError("Camera sensor needs an image near attribute");
-      return false;
-    }
-
-    const char* far_char = image->Attribute("far");
-    if (far_char)
-    {
-      try
-      {
-        camera.far = boost::lexical_cast<double>(far_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Camera image far [%s] is not a valid float: %s", far_char, e.what());
-        return false;
-      }
-    }
-    else
-    {
-      logError("Camera sensor needs an image far attribute");
-      return false;
-    }
-    
-  }
-  else
-  {
-    logError("Camera sensor has no <image> element");
-    return false;
-  }
-  return true;
-}
-
-bool parseRay(Ray &ray, TiXmlElement* config)
-{
-  ray.clear();
-  ray.type = VisualSensor::RAY;
-
-  TiXmlElement *horizontal = config->FirstChildElement("horizontal");
-  if (horizontal)
-  {
-    const char* samples_char = horizontal->Attribute("samples");
-    if (samples_char)
-    {
-      try
-      {
-        ray.horizontal_samples = boost::lexical_cast<unsigned int>(samples_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray horizontal samples [%s] is not a valid float: %s", samples_char, e.what());
-        return false;
-      }
-    }
-
-    const char* resolution_char = horizontal->Attribute("resolution");
-    if (resolution_char)
-    {
-      try
-      {
-        ray.horizontal_resolution = boost::lexical_cast<double>(resolution_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray horizontal resolution [%s] is not a valid float: %s", resolution_char, e.what());
-        return false;
-      }
-    }   
-    
-    const char* min_angle_char = horizontal->Attribute("min_angle");
-    if (min_angle_char)
-    {
-      try
-      {
-        ray.horizontal_min_angle = boost::lexical_cast<double>(min_angle_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray horizontal min_angle [%s] is not a valid float: %s", min_angle_char, e.what());
-        return false;
-      }
-    }
-
-    const char* max_angle_char = horizontal->Attribute("max_angle");
-    if (max_angle_char)
-    {
-      try
-      {
-        ray.horizontal_max_angle = boost::lexical_cast<double>(max_angle_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray horizontal max_angle [%s] is not a valid float: %s", max_angle_char, e.what());
-        return false;
-      }
-    }
-  }
-  
-  TiXmlElement *vertical = config->FirstChildElement("vertical");
-  if (vertical)
-  {
-    const char* samples_char = vertical->Attribute("samples");
-    if (samples_char)
-    {
-      try
-      {
-        ray.vertical_samples = boost::lexical_cast<unsigned int>(samples_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray vertical samples [%s] is not a valid float: %s", samples_char, e.what());
-        return false;
-      }
-    }
-
-    const char* resolution_char = vertical->Attribute("resolution");
-    if (resolution_char)
-    {
-      try
-      {
-        ray.vertical_resolution = boost::lexical_cast<double>(resolution_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray vertical resolution [%s] is not a valid float: %s", resolution_char, e.what());
-        return false;
-      }
-    }   
-    
-    const char* min_angle_char = vertical->Attribute("min_angle");
-    if (min_angle_char)
-    {
-      try
-      {
-        ray.vertical_min_angle = boost::lexical_cast<double>(min_angle_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray vertical min_angle [%s] is not a valid float: %s", min_angle_char, e.what());
-        return false;
-      }
-    }
-
-    const char* max_angle_char = vertical->Attribute("max_angle");
-    if (max_angle_char)
-    {
-      try
-      {
-        ray.vertical_max_angle = boost::lexical_cast<double>(max_angle_char);
-      }
-      catch (boost::bad_lexical_cast &e)
-      {
-        logError("Ray vertical max_angle [%s] is not a valid float: %s", max_angle_char, e.what());
-        return false;
-      }
-    }
-  }
-}
-
-boost::shared_ptr<VisualSensor> parseVisualSensor(TiXmlElement *g)
-{
-  boost::shared_ptr<VisualSensor> visual_sensor;
-
-  // get sensor type
-  TiXmlElement *sensor_xml;
-  if (g->FirstChildElement("camera"))
-  {
-    Camera *camera = new Camera();
-    visual_sensor.reset(camera);
-    sensor_xml = g->FirstChildElement("camera");
-    if (!parseCamera(*camera, sensor_xml))
-      visual_sensor.reset();
-  }
-  else if (g->FirstChildElement("ray"))
-  {
-    Ray *ray = new Ray();
-    visual_sensor.reset(ray);
-    sensor_xml = g->FirstChildElement("ray");
-    if (!parseRay(*ray, sensor_xml))
-      visual_sensor.reset();
-  }
-  else
-  {
-    logError("No know sensor types [camera|ray] defined in <sensor> block");
-  }
-  return visual_sensor;
-}
-
-
-bool parseSensor(Sensor &sensor, TiXmlElement* config)
-{
-  sensor.clear();
-
-  const char *name_char = config->Attribute("name");
-  if (!name_char)
-  {
-    logError("No name given for the sensor.");
-    return false;
-  }
-  sensor.name = std::string(name_char);
-
-  // parse parent_link_name
-  const char *parent_link_name_char = config->Attribute("parent_link_name");
-  if (!parent_link_name_char)
-  {
-    logError("No parent_link_name given for the sensor.");
-    return false;
-  }
-  sensor.parent_link_name = std::string(parent_link_name_char);
-
-  // parse origin
-  TiXmlElement *o = config->FirstChildElement("origin");
-  if (o)
-  {
-    if (!parsePose(sensor.origin, o))
-      return false;
-  }
-
-  // parse sensor
-  sensor.sensor = parseVisualSensor(config);
-  return true;
-}
-
-
-}
-
-

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/world.cpp

@@ -1,71 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-
-#include <urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h>
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h>
-#include <urdf_parser/urdf_parser.h>
-#include <fstream>
-#include <sstream>
-#include <boost/lexical_cast.hpp>
-#include <algorithm>
-#include <tinyxml.h>
-#include <console_bridge/console.h>
-
-namespace urdf{
-
-bool parseWorld(World &world, TiXmlElement* config)
-{
-
-  // to be implemented
-
-  return true;
-}
-
-bool exportWorld(World &world, TiXmlElement* xml)
-{
-  TiXmlElement * world_xml = new TiXmlElement("world");
-  world_xml->SetAttribute("name", world.name);
-
-  // to be implemented
-  // exportModels(*world.models, world_xml);
-
-  xml->LinkEndChild(world_xml);
-
-  return true;
-}
-
-}

examples/ThirdPartyLibs/urdf/urdfdom/urdf_parser/test/memtest.cpp

@@ -1,20 +0,0 @@
-#include "urdf_parser/urdf_parser.h"
-#include <fstream>
-#include <iostream>
-
-int main(int argc, char** argv){
-  while (true){
-    std::string xml_string;
-    std::fstream xml_file(argv[1], std::fstream::in);
-    while ( xml_file.good() )
-    {
-      std::string line;
-      std::getline( xml_file, line);
-      xml_string += (line + "\n");
-    }
-    xml_file.close();
-
-
-    urdf::parseURDF(xml_string);
-  }
-}

examples/ThirdPartyLibs/urdf/urdfdom_headers/LICENSE

@@ -1,15 +0,0 @@
-Software License Agreement (Apache License)
-
-Copyright 2011 John Hsu
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-    http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.

examples/ThirdPartyLibs/urdf/urdfdom_headers/README.txt

@@ -1,6 +0,0 @@
-The URDF (U-Robot Description Format) headers
-  provides core data structure headers for URDF.
-
-For now, the details of the URDF specifications reside on
-  http://ros.org/wiki/urdf
-

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h

@@ -1,53 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-// URDF exceptions
-#ifndef URDF_INTERFACE_EXCEPTION_H_
-#define URDF_INTERFACE_EXCEPTION_H_
-
-#include <string>
-#include <stdexcept>
-
-namespace urdf
-{
-
-class ParseError: public std::runtime_error
-{
-public:
-  ParseError(const std::string &error_msg) : std::runtime_error(error_msg) {};
-};
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/color.h

@@ -1,101 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Josh Faust */
-
-#ifndef URDF_INTERFACE_COLOR_H
-#define URDF_INTERFACE_COLOR_H
-
-#include <string>
-#include <vector>
-#include <math.h>
-//#include <boost/algorithm/string.hpp>
-//#include <boost/lexical_cast.hpp>
-
-namespace urdf
-{
-
-class Color
-{
-public:
-  Color() {this->clear();};
-  float r;
-  float g;
-  float b;
-  float a;
-
-  void clear()
-  {
-    r = g = b = 0.0f;
-    a = 1.0f;
-  }
-  bool init(const std::string &vector_str)
-  {
-    this->clear();
-    std::vector<std::string> pieces;
-    std::vector<float> rgba;
-
-    boost::split( pieces, vector_str, boost::is_any_of(" "));
-    for (unsigned int i = 0; i < pieces.size(); ++i)
-    {
-      if (!pieces[i].empty())
-      {
-        try
-        {
-          rgba.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
-        }
-        catch (boost::bad_lexical_cast &e)
-        {
-          return false;
-        }
-      }
-    }
-
-    if (rgba.size() != 4)
-    {
-      return false;
-    }
-    this->r = rgba[0];
-    this->g = rgba[1];
-    this->b = rgba[2];
-    this->a = rgba[3];
-
-    return true;
-  };
-};
-
-}
-
-#endif
-

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h

@@ -1,234 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#ifndef URDF_INTERFACE_JOINT_H
-#define URDF_INTERFACE_JOINT_H
-
-#include <string>
-#include <vector>
-#ifdef URDF_USE_BOOST
-#include <boost/shared_ptr.hpp>
-#define my_shared_ptr my_shared_ptr
-#else
-#include <urdf/boost_replacement/shared_ptr.h>
-#endif
-
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
-
-
-namespace urdf{
-
-class Link;
-
-class JointDynamics
-{
-public:
-  JointDynamics() { this->clear(); };
-  double damping;
-  double friction;
-
-  void clear()
-  {
-    damping = 0;
-    friction = 0;
-  };
-};
-
-class JointLimits
-{
-public:
-  JointLimits() { this->clear(); };
-  double lower;
-  double upper;
-  double effort;
-  double velocity;
-
-  void clear()
-  {
-    lower = 0;
-    upper = 0;
-    effort = 0;
-    velocity = 0;
-  };
-};
-
-/// \brief Parameters for Joint Safety Controllers
-class JointSafety
-{
-public:
-  /// clear variables on construction
-  JointSafety() { this->clear(); };
-
-  /// 
-  /// IMPORTANT:  The safety controller support is very much PR2 specific, not intended for generic usage.
-  /// 
-  /// Basic safety controller operation is as follows
-  /// 
-  /// current safety controllers will take effect on joints outside the position range below:
-  ///
-  /// position range: [JointSafety::soft_lower_limit  + JointLimits::velocity / JointSafety::k_position, 
-  ///                  JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]
-  ///
-  /// if (joint_position is outside of the position range above)
-  ///     velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit)
-  ///     velocity_limit_max =  JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit)
-  /// else
-  ///     velocity_limit_min = -JointLimits::velocity
-  ///     velocity_limit_max =  JointLimits::velocity
-  ///
-  /// velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity,
-  ///                  velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]
-  ///
-  /// if (joint_velocity is outside of the velocity range above)
-  ///     effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min)
-  ///     effort_limit_max =  JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max)
-  /// else
-  ///     effort_limit_min = -JointLimits::effort
-  ///     effort_limit_max =  JointLimits::effort
-  ///
-  /// Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]
-  ///
-  /// Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits
-  /// 
-  double soft_upper_limit;
-  double soft_lower_limit;
-  double k_position;
-  double k_velocity;
-
-  void clear()
-  {
-    soft_upper_limit = 0;
-    soft_lower_limit = 0;
-    k_position = 0;
-    k_velocity = 0;
-  };
-};
-
-
-class JointCalibration
-{
-public:
-  JointCalibration() { this->clear(); };
-  double reference_position;
-  my_shared_ptr<double> rising, falling;
-
-  void clear()
-  {
-    reference_position = 0;
-  };
-};
-
-class JointMimic
-{
-public:
-  JointMimic() { this->clear(); };
-  double offset;
-  double multiplier;
-  std::string joint_name;
-
-  void clear()
-  {
-    offset = 0.0;
-    multiplier = 0.0;
-    joint_name.clear();
-  };
-};
-
-
-class Joint
-{
-public:
-
-  Joint() { this->clear(); };
-
-  std::string name;
-  enum
-  {
-    UNKNOWN, REVOLUTE, CONTINUOUS, PRISMATIC, FLOATING, PLANAR, FIXED
-  } type;
-
-  /// \brief     type_       meaning of axis_
-  /// ------------------------------------------------------
-  ///            UNKNOWN     unknown type
-  ///            REVOLUTE    rotation axis
-  ///            PRISMATIC   translation axis
-  ///            FLOATING    N/A
-  ///            PLANAR      plane normal axis
-  ///            FIXED       N/A
-  Vector3 axis;
-
-  /// child Link element
-  ///   child link frame is the same as the Joint frame
-  std::string child_link_name;
-
-  /// parent Link element
-  ///   origin specifies the transform from Parent Link to Joint Frame
-  std::string parent_link_name;
-  /// transform from Parent Link frame to Joint frame
-  Pose  parent_to_joint_origin_transform;
-
-  /// Joint Dynamics
-  my_shared_ptr<JointDynamics> dynamics;
-
-  /// Joint Limits
-  my_shared_ptr<JointLimits> limits;
-
-  /// Unsupported Hidden Feature
-  my_shared_ptr<JointSafety> safety;
-
-  /// Unsupported Hidden Feature
-  my_shared_ptr<JointCalibration> calibration;
-
-  /// Option to Mimic another Joint
-  my_shared_ptr<JointMimic> mimic;
-
-  void clear()
-  {
-    this->axis.clear();
-    this->child_link_name.clear();
-    this->parent_link_name.clear();
-    this->parent_to_joint_origin_transform.clear();
-    this->dynamics.reset(0);
-    this->limits.reset(0);
-    this->safety.reset(0);
-    this->calibration.reset(0);
-    this->type = UNKNOWN;
-  };
-};
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h

@@ -1,262 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#ifndef URDF_INTERFACE_LINK_H
-#define URDF_INTERFACE_LINK_H
-
-#include <string>
-#include <vector>
-#include <map>
-
-
-#ifdef URDF_USE_BOOST
-	#include <boost/shared_ptr.hpp>
-	#include <boost/weak_ptr.hpp>
-#else
-	#include <urdf/boost_replacement/shared_ptr.h>
-#endif
-
-#include "joint.h"
-#include "color.h"
-#include "pose.h"
-
-namespace urdf{
-
-class Geometry
-{
-public:
-  enum {SPHERE, BOX, CYLINDER, MESH} type;
-
-  virtual ~Geometry(void)
-  {
-  }  
-};
-
-class Sphere : public Geometry
-{
-public:
-  Sphere() { this->clear(); type = SPHERE; };
-  double radius;
-
-  void clear()
-  {
-    radius = 0;
-  };
-};
-
-class Box : public Geometry
-{
-public:
-  Box() { this->clear(); type = BOX; }
-  Vector3 dim;
-
-  void clear()
-  {
-    this->dim.clear();
-  };
-};
-
-class Cylinder : public Geometry
-{
-public:
-  Cylinder() { this->clear(); type = CYLINDER; };
-  double length;
-  double radius;
-
-  void clear()
-  {
-    length = 0;
-    radius = 0;
-  };
-};
-
-class Mesh : public Geometry
-{
-public:
-  Mesh() { this->clear(); type = MESH; };
-  std::string filename;
-  Vector3 scale;
-
-  void clear()
-  {
-    filename.clear();
-    // default scale
-    scale.x = 1;
-    scale.y = 1;
-    scale.z = 1;
-  };
-};
-
-class Material
-{
-public:
-  Material() { this->clear(); };
-  std::string name;
-  std::string texture_filename;
-  Color color;
-
-  void clear()
-  {
-    color.clear();
-    texture_filename.clear();
-    name.clear();
-  };
-};
-
-class Inertial
-{
-public:
-  Inertial() { this->clear(); };
-  Pose origin;
-  double mass;
-  double ixx,ixy,ixz,iyy,iyz,izz;
-
-  void clear()
-  {
-    origin.clear();
-    mass = 0;
-    ixx = ixy = ixz = iyy = iyz = izz = 0;
-  };
-};
-
-class Visual
-{
-public:
-  Visual() { this->clear(); };
-  Pose origin;
-  my_shared_ptr<Geometry> geometry;
-
-  std::string material_name;
-  my_shared_ptr<Material> material;
-
-  void clear()
-  {
-    origin.clear();
-    material_name.clear();
-    material.reset(0);
-    geometry.reset(0);
-    name.clear();
-  };
-
-  std::string name;
-};
-
-class Collision
-{
-public:
-  Collision() { this->clear(); };
-  Pose origin;
-  my_shared_ptr<Geometry> geometry;
-
-  void clear()
-  {
-    origin.clear();
-    geometry.reset(0);
-    name.clear();
-  };
-
-  std::string name;
-
-};
-
-
-class Link
-{
-public:
-  Link() { this->clear(); };
-
-  std::string name;
-
-  /// inertial element
-  my_shared_ptr<Inertial> inertial;
-
-  /// visual element
-  my_shared_ptr<Visual> visual;
-
-  /// collision element
-  my_shared_ptr<Collision> collision;
-
-  /// if more than one collision element is specified, all collision elements are placed in this array (the collision member points to the first element of the array)
-  std::vector<my_shared_ptr<Collision> > collision_array;
-
-  /// if more than one visual element is specified, all visual elements are placed in this array (the visual member points to the first element of the array)
-  std::vector<my_shared_ptr<Visual> > visual_array;
-
-  /// Parent Joint element
-  ///   explicitly stating "parent" because we want directional-ness for tree structure
-  ///   every link can have one parent
-  my_shared_ptr<Joint> parent_joint;
-
-  std::vector<my_shared_ptr<Joint> > child_joints;
-  std::vector<my_shared_ptr<Link> > child_links;
-
-  mutable int m_link_index;
-
-  const Link* getParent() const
-  {return parent_link_;}
-
-  void setParent(const my_shared_ptr<Link> &parent)
-  {
-	  parent_link_ = parent.get();
-  }
-  
-  void clear()
-  {
-    this->name.clear();
-    this->inertial.reset(0);
-    this->visual.reset(0);
-    this->collision.reset(0);
-    this->parent_joint.reset(0);
-    this->child_joints.clear();
-    this->child_links.clear();
-    this->collision_array.clear();
-    this->visual_array.clear();
-	this->m_link_index=-1;
-	this->parent_link_ = NULL;
-  };
-
-private:
-//  boost::weak_ptr<Link> parent_link_;
-	const Link* parent_link_;
-
-};
-
-
-
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h

@@ -1,220 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#ifndef URDF_INTERFACE_MODEL_H
-#define URDF_INTERFACE_MODEL_H
-
-#include <string>
-#include <map>
-//#include <boost/function.hpp>
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h>
-#include <stdio.h> //printf
-#include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
-
-namespace urdf {
-
-class ModelInterface
-{
-public:
-  my_shared_ptr<const Link> getRoot(void) const{return this->root_link_;};
-  my_shared_ptr<const Link> getLink(const std::string& name) const
-  {
-    my_shared_ptr<const Link> ptr;
-    if (this->links_.find(name) == this->links_.end())
-      ptr.reset(0);
-    else
-      ptr = this->links_.find(name)->second;
-    return ptr;
-  };
-  
-  my_shared_ptr<const Joint> getJoint(const std::string& name) const
-  {
-    my_shared_ptr<const Joint> ptr;
-    if (this->joints_.find(name) == this->joints_.end())
-      ptr.reset(0);
-    else
-      ptr = this->joints_.find(name)->second;
-    return ptr;
-  };
-  
-  
-  const std::string& getName() const {return name_;};
-  void getLinks(std::vector<my_shared_ptr<Link> >& links) const
-  {
-    for (std::map<std::string,my_shared_ptr<Link> >::const_iterator link = this->links_.begin();link != this->links_.end(); link++)
-    {
-      links.push_back(link->second);
-    }
-  };
-  
-  void clear()
-  {
-	m_numLinks=0;
-	m_numJoints = 0;
-    name_.clear();
-    this->links_.clear();
-    this->joints_.clear();
-    this->materials_.clear();
-    this->root_link_.reset(0);
-  };
-  
-  /// non-const getLink()
-  void getLink(const std::string& name,my_shared_ptr<Link> &link) const
-  {
-    my_shared_ptr<Link> ptr;
-    if (this->links_.find(name) == this->links_.end())
-      ptr.reset(0);
-    else
-      ptr = this->links_.find(name)->second;
-    link = ptr;
-  };
-  
-  /// non-const getMaterial()
-  my_shared_ptr<Material> getMaterial(const std::string& name) const
-  {
-    my_shared_ptr<Material> ptr;
-    if (this->materials_.find(name) == this->materials_.end())
-      ptr.reset(0);
-    else
-      ptr = this->materials_.find(name)->second;
-    return ptr;
-  };
-  
-  void initTree(std::map<std::string, std::string> &parent_link_tree)
-  {
-    // loop through all joints, for every link, assign children links and children joints
-    for (std::map<std::string,my_shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
-    {
-      std::string parent_link_name = joint->second->parent_link_name;
-      std::string child_link_name = joint->second->child_link_name;
-      
-      if (parent_link_name.empty() || child_link_name.empty())
-      {
-		  assert(0);
-
-      //  throw ParseError("Joint [" + joint->second->name + "] is missing a parent and/or child link specification.");
-      }
-      else
-      {
-        // find child and parent links
-        my_shared_ptr<Link> child_link, parent_link;
-        this->getLink(child_link_name, child_link);
-        if (!child_link)
-        {
-			printf("Error: child link [%s] of joint [%s] not found\n", child_link_name.c_str(),joint->first.c_str() );
-			assert(0);
-//          throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found");
-        }
-        this->getLink(parent_link_name, parent_link);
-        if (!parent_link)
-        {
-			assert(0);
-
-/*          throw ParseError("parent link [" + parent_link_name + "] of joint [" + joint->first + "] not found.  This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [" + joint->first + "] from your urdf file, or add \"<link name=\"" + parent_link_name + "\" />\" to your urdf file.");
-  
- */}
-        
-        //set parent link for child link
-        child_link->setParent(parent_link);
-
-        //set parent joint for child link        
-        child_link->parent_joint = joint->second;
-        
-        //set child joint for parent link
-        parent_link->child_joints.push_back(joint->second);
-
-        //set child link for parent link
-        parent_link->child_links.push_back(child_link);
-
-        // fill in child/parent string map
-        parent_link_tree[child_link->name] = parent_link_name;
-      }
-    }
-  }
-  
-  void initRoot(const std::map<std::string, std::string> &parent_link_tree)
-  { 
-    this->root_link_.reset(0);
-    
-    // find the links that have no parent in the tree
-    for (std::map<std::string, my_shared_ptr<Link> >::const_iterator l=this->links_.begin(); l!=this->links_.end(); l++)  
-    {
-      std::map<std::string, std::string >::const_iterator parent = parent_link_tree.find(l->first);
-      if (parent == parent_link_tree.end())
-      {
-        // store root link
-        if (!this->root_link_)
-        {
-          getLink(l->first, this->root_link_);
-        }
-        // we already found a root link
-        else
-        {
-			assert(0);
-      //    throw ParseError("Two root links found: [" + this->root_link_->name + "] and [" + l->first + "]");
-        }
-      }
-    }
-    if (!this->root_link_)
-    {
-		assert(0);
-      //throw ParseError("No root link found. The robot xml is not a valid tree.");
-    }
-  }
-  
-  
-  /// \brief complete list of Links
-  std::map<std::string, my_shared_ptr<Link> > links_;
-  /// \brief complete list of Joints
-  std::map<std::string, my_shared_ptr<Joint> > joints_;
-  /// \brief complete list of Materials
-  std::map<std::string, my_shared_ptr<Material> > materials_;
-
-  /// \brief The name of the robot model
-  std::string name_;
-
-  /// \brief The root is always a link (the parent of the tree describing the robot)
-  my_shared_ptr<Link> root_link_;
-
-  int m_numLinks;//includes parent
-  int m_numJoints;
-
-
-};
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h

@@ -1,265 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: Wim Meeussen */
-
-#ifndef URDF_INTERFACE_POSE_H
-#define URDF_INTERFACE_POSE_H
-
-#include <string>
-//#include <sstream>
-#include <vector>
-#include <math.h>
-#ifndef M_PI
-#define M_PI 3.141592538
-#endif //M_PI
-
-#ifdef URDF_USE_BOOST
-	#include <boost/algorithm/string.hpp>
-	#include <boost/lexical_cast.hpp>
-#else
-	#include <urdf/boost_replacement/string_split.h>
-	#include <urdf/boost_replacement/lexical_cast.h>
-#endif //URDF_USE_BOOST
-
-#include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
-#include <assert.h>
-
-namespace urdf{
-
-class Vector3
-{
-public:
-  Vector3(double _x,double _y, double _z) {this->x=_x;this->y=_y;this->z=_z;};
-  Vector3() {this->clear();};
-  double x;
-  double y;
-  double z;
-
-  void clear() {this->x=this->y=this->z=0.0;};
-  void init(const std::string &vector_str)
-  { 
-    this->clear();
-    std::vector<std::string> pieces;
-    std::vector<double> xyz;
-    boost::split( pieces, vector_str, boost::is_any_of(" "));
-    for (unsigned int i = 0; i < pieces.size(); ++i){
-      if (pieces[i] != ""){
-        try {
-          xyz.push_back(boost::lexical_cast<double>(pieces[i].c_str()));
-        }
-        catch (boost::bad_lexical_cast &e)
-		{
-			assert(0);
-         // throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a vector value)");
-        }
-      }
-    }
-	  
-	  
-	  
-  if (xyz.size() != 3)
-  {
-	  assert(0);
-	 // throw ParseError("Parser found " + boost::lexical_cast<std::string>(xyz.size())  + " elements but 3 expected while parsing vector [" + vector_str + "]");
-  }
-    this->x = xyz[0];
-    this->y = xyz[1];
-    this->z = xyz[2];
-  }
-  
-  Vector3 operator+(Vector3 vec)
-  {
-    return Vector3(this->x+vec.x,this->y+vec.y,this->z+vec.z);
-  };
-};
-
-class Rotation
-{
-public:
-  Rotation(double _x,double _y, double _z, double _w) {this->x=_x;this->y=_y;this->z=_z;this->w=_w;};
-  Rotation() {this->clear();};
-  void getQuaternion(double &quat_x,double &quat_y,double &quat_z, double &quat_w) const
-  {
-    quat_x = this->x;
-    quat_y = this->y;
-    quat_z = this->z;
-    quat_w = this->w;
-  };
-  void getRPY(double &roll,double &pitch,double &yaw) const
-  {
-    double sqw;
-    double sqx;
-    double sqy;
-    double sqz;
-
-    sqx = this->x * this->x;
-    sqy = this->y * this->y;
-    sqz = this->z * this->z;
-    sqw = this->w * this->w;
-
-    roll  = atan2(2 * (this->y*this->z + this->w*this->x), sqw - sqx - sqy + sqz);
-    double sarg = -2 * (this->x*this->z - this->w*this->y);
-    pitch = sarg <= -1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg));
-    yaw   = atan2(2 * (this->x*this->y + this->w*this->z), sqw + sqx - sqy - sqz);
-
-  };
-  void setFromQuaternion(double quat_x,double quat_y,double quat_z,double quat_w)
-  {
-    this->x = quat_x;
-    this->y = quat_y;
-    this->z = quat_z;
-    this->w = quat_w;
-    this->normalize();
-  };
-  void setFromRPY(double roll, double pitch, double yaw)
-  {
-    double phi, the, psi;
-
-    phi = roll / 2.0;
-    the = pitch / 2.0;
-    psi = yaw / 2.0;
-
-    this->x = sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi);
-    this->y = cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi);
-    this->z = cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi);
-    this->w = cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi);
-
-    this->normalize();
-  };
-
-  double x,y,z,w;
-
-  void init(const std::string &rotation_str)
-  { 
-    this->clear();
-    Vector3 rpy;
-    rpy.init(rotation_str);
-    setFromRPY(rpy.x, rpy.y, rpy.z);
-  }
-  
-  void clear() { this->x=this->y=this->z=0.0;this->w=1.0; }
-
-  void normalize()
-  {
-    double s = sqrt(this->x * this->x +
-                    this->y * this->y +
-                    this->z * this->z +
-                    this->w * this->w);
-    if (s == 0.0)
-    {
-      this->x = 0.0;
-      this->y = 0.0;
-      this->z = 0.0;
-      this->w = 1.0;
-    }
-    else
-    {
-      this->x /= s;
-      this->y /= s;
-      this->z /= s;
-      this->w /= s;
-    }
-  };
-
-  // Multiplication operator (copied from gazebo)
-  Rotation operator*( const Rotation &qt ) const
-  {
-    Rotation c;
-
-    c.x = this->w * qt.x + this->x * qt.w + this->y * qt.z - this->z * qt.y;
-    c.y = this->w * qt.y - this->x * qt.z + this->y * qt.w + this->z * qt.x;
-    c.z = this->w * qt.z + this->x * qt.y - this->y * qt.x + this->z * qt.w;
-    c.w = this->w * qt.w - this->x * qt.x - this->y * qt.y - this->z * qt.z;
-
-    return c;
-  };
-  /// Rotate a vector using the quaternion
-  Vector3 operator*(Vector3 vec) const
-  {
-    Rotation tmp;
-    Vector3 result;
-
-    tmp.w = 0.0;
-    tmp.x = vec.x;
-    tmp.y = vec.y;
-    tmp.z = vec.z;
-
-    tmp = (*this) * (tmp * this->GetInverse());
-
-    result.x = tmp.x;
-    result.y = tmp.y;
-    result.z = tmp.z;
-
-    return result;
-  };
-  // Get the inverse of this quaternion
-  Rotation GetInverse() const 
-  {
-    Rotation q;
-
-    double norm = this->w*this->w+this->x*this->x+this->y*this->y+this->z*this->z;
-
-    if (norm > 0.0)
-    {
-      q.w = this->w / norm;
-      q.x = -this->x / norm;
-      q.y = -this->y / norm;
-      q.z = -this->z / norm;
-    }
-
-    return q;
-  };
-
-
-};
-
-class Pose
-{
-public:
-  Pose() { this->clear(); };
-
-  Vector3  position;
-  Rotation rotation;
-
-  void clear()
-  {
-    this->position.clear();
-    this->rotation.clear();
-  };
-};
-
-}
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/twist.h

@@ -1,68 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-#ifndef URDF_TWIST_H
-#define URDF_TWIST_H
-
-#include <string>
-#include <sstream>
-#include <vector>
-#include <math.h>
-#include <urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h>
-
-namespace urdf{
-
-
-class Twist
-{
-public:
-  Twist() { this->clear(); };
-
-  Vector3  linear;
-  // Angular velocity represented by Euler angles
-  Vector3  angular;
-
-  void clear()
-  {
-    this->linear.clear();
-    this->angular.clear();
-  };
-};
-
-}
-
-#endif
-

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/model_state.h

@@ -1,141 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-#ifndef URDF_MODEL_STATE_H
-#define URDF_MODEL_STATE_H
-
-#include <string>
-#include <vector>
-#include <map>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
-
-#include "urdf_model/pose.h"
-#include <urdf_model/twist.h>
-
-
-namespace urdf{
-
-class Time
-{
-public:
-  Time() { this->clear(); };
-
-  void set(double _seconds)
-  {
-    this->sec = (int32_t)(floor(_seconds));
-    this->nsec = (int32_t)(round((_seconds - this->sec) * 1e9));
-    this->Correct();
-  };
-
-  operator double ()
-  {
-    return (static_cast<double>(this->sec) +
-            static_cast<double>(this->nsec)*1e-9);
-  };
-
-  int32_t sec;
-  int32_t nsec;
-
-  void clear()
-  {
-    this->sec = 0;
-    this->nsec = 0;
-  };
-private:
-  void Correct()
-  {
-    // Make any corrections
-    if (this->nsec >= 1e9)
-    {
-      this->sec++;
-      this->nsec = (int32_t)(this->nsec - 1e9);
-    }
-    else if (this->nsec < 0)
-    {
-      this->sec--;
-      this->nsec = (int32_t)(this->nsec + 1e9);
-    }
-  };
-};
-
-
-class JointState
-{
-public:
-  JointState() { this->clear(); };
-
-  /// joint name
-  std::string joint;
-
-  std::vector<double> position;
-  std::vector<double> velocity;
-  std::vector<double> effort;
-
-  void clear()
-  {
-    this->joint.clear();
-    this->position.clear();
-    this->velocity.clear();
-    this->effort.clear();
-  }
-};
-
-class ModelState
-{
-public:
-  ModelState() { this->clear(); };
-
-  /// state name must be unique
-  std::string name;
-
-  Time time_stamp;
-
-  void clear()
-  {
-    this->name.clear();
-    this->time_stamp.set(0);
-    this->joint_states.clear();
-  };
-
-  std::vector<boost::shared_ptr<JointState> > joint_states;
-
-};
-
-}
-
-#endif
-

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_model_state/include/urdf_model_state/twist.h

@@ -1,42 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_MODEL_STATE_TWIST_
-#define URDF_MODEL_STATE_TWIST_
-
-#warning "Please Use #include <urdf_model/twist.h>"
-
-#include <urdf_model/twist.h>
-
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_sensor/include/urdf_sensor/sensor.h

@@ -1,176 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-/* example
-
- <sensor name="my_camera_sensor" update_rate="20">
-   <origin xyz="0 0 0" rpy="0 0 0"/>
-   <camera>
-     <horizontal_hov>1.5708</horizontal_hov>
-     <image width="640" height="480" format="R8G8B8"/>
-     <clip near="0.01" far="50.0"/>
-   </camera>
- </sensor>
- <sensor name="my_ray_sensor" update_rate="20">
-   <origin xyz="0 0 0" rpy="0 0 0"/>
-   <ray>
-     <scan>
-       <horizontal samples="100" resolution="1" min_angle="-1.5708" max_angle="1.5708"/>
-       <vertical samples="1" resolution="1" min_angle="0" max_angle="0"/>
-     </scan>
-   </ray>
- </sensor>
-
-*/
-
-
-
-#ifndef URDF_SENSOR_H
-#define URDF_SENSOR_H
-
-#include <string>
-#include <vector>
-#include <map>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
-#include "urdf_model/pose.h"
-#include "urdf_model/joint.h"
-#include "urdf_model/link.h"
-
-namespace urdf{
-
-class VisualSensor
-{
-public:
-  enum {CAMERA, RAY} type;
-  virtual ~VisualSensor(void)
-  {
-  }
-};
-
-class Camera : public VisualSensor
-{
-public:
-  Camera() { this->clear(); };
-  unsigned int width, height;
-  /// format is optional: defaults to R8G8B8), but can be
-  /// (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)
-  std::string format;
-  double hfov;
-  double near;
-  double far;
-
-  void clear()
-  {
-    hfov = 0;
-    width = 0;
-    height = 0;
-    format.clear();
-    near = 0;
-    far = 0;
-  };
-};
-
-class Ray : public VisualSensor
-{
-public:
-  Ray() { this->clear(); };
-  unsigned int horizontal_samples;
-  double horizontal_resolution;
-  double horizontal_min_angle;
-  double horizontal_max_angle;
-  unsigned int vertical_samples;
-  double vertical_resolution;
-  double vertical_min_angle;
-  double vertical_max_angle;
-
-  void clear()
-  {
-    // set defaults
-    horizontal_samples = 1;
-    horizontal_resolution = 1;
-    horizontal_min_angle = 0;
-    horizontal_max_angle = 0;
-    vertical_samples = 1;
-    vertical_resolution = 1;
-    vertical_min_angle = 0;
-    vertical_max_angle = 0;
-  };
-};
-
-
-class Sensor
-{
-public:
-  Sensor() { this->clear(); };
-
-  /// sensor name must be unique
-  std::string name;
-
-  /// update rate in Hz
-  double update_rate;
-
-  /// transform from parent frame to optical center
-  ///   with z-forward and x-right, y-down
-  Pose origin;
-
-  /// sensor
-  boost::shared_ptr<VisualSensor> sensor;
-
-
-  /// Parent link element name.  A pointer is stored in parent_link_.
-  std::string parent_link_name;
-
-  boost::shared_ptr<Link> getParent() const
-  {return parent_link_.lock();};
-
-  void setParent(boost::shared_ptr<Link> parent)
-  {  this->parent_link_ = parent; }
-  
-  void clear()
-  {
-    this->name.clear();
-    this->sensor.reset();
-    this->parent_link_name.clear();
-    this->parent_link_.reset();
-  };
-
-private:
-  boost::weak_ptr<Link> parent_link_;
-
-};
-}
-#endif

examples/ThirdPartyLibs/urdf/urdfdom_headers/urdf_world/include/urdf_world/world.h

@@ -1,114 +0,0 @@
-/*********************************************************************
-* 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
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * 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
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-/* Author: John Hsu */
-
-/* encapsulates components in a world
-   see http://ros.org/wiki/usdf/XML/urdf_world and
-   for details
-*/
-/* example world XML
-
-<world name="pr2_with_table">
-  <!-- include the models by including
-       either the complete urdf or
-       referencing the file name.  -->
-  <model name="pr2">
-    ...
-  </model>
-  <include filename="table.urdf" model_name="table_model"/>
-
-  <!-- models in the world -->
-  <entity model="pr2" name="prj">
-    <origin xyz="0 1 0" rpy="0 0 0"/>
-    <twist linear="0 0 0" angular="0 0 0"/>
-  </entity>
-  <entity model="pr2" name="prk">
-    <origin xyz="0 2 0" rpy="0 0 0"/>
-    <twist linear="0 0 0" angular="0 0 0"/>
-  </entity>
-  <entity model="table_model">
-    <origin xyz="0 3 0" rpy="0 0 0"/>
-    <twist linear="0 0 0" angular="0 0 0"/>
-  </entity>
-
-</world>
-
-*/
-
-#ifndef USDF_STATE_H
-#define USDF_STATE_H
-
-#include <string>
-#include <vector>
-#include <map>
-#include <tinyxml.h>
-#include <boost/shared_ptr.hpp>
-#include <boost/weak_ptr.hpp>
-
-#include "urdf_model/model.h"
-#include "urdf_model/pose.h"
-#include "urdf_model/twist.h"
-
-namespace urdf{
-
-class Entity
-{
-public:
-  boost::shared_ptr<ModelInterface> model;
-  Pose origin;
-  Twist twist;
-};
-
-class World
-{
-public:
-  World() { this->clear(); };
-
-  /// world name must be unique
-  std::string name;
-
-  std::vector<Entity> models;
-
-  void initXml(TiXmlElement* config);
-
-  void clear()
-  {
-    this->name.clear();
-  };
-};
-}
-
-#endif
-

examples/TinyRenderer/Bullet2TinyRenderer.cpp

@@ -0,0 +1,164 @@
+
+
+#include "TinyRenderer.h"
+#include <stdio.h>
+#include "LinearMath/btHashMap.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+class Bullet2TinyRenderer
+{
+    
+	btAlignedObjectArray<TinyRenderObjectData*> m_swRenderObjects;
+	
+	btHashMap<btHashPtr,int> m_colObject2gfxIndex;
+	btHashMap<btHashPtr,int> m_colShape2gfxIndex;
+	
+	
+	int m_swWidth;
+	int m_swHeight;
+	TGAImage m_rgbColorBuffer;
+	
+	b3AlignedObjectArray<float> m_depthBuffer;
+	int m_textureHandle;
+	unsigned char*	m_image;
+	
+    
+public:
+    Bullet2TinyRenderer (int swWidth, int swHeight):
+    m_swWidth(swWidth),
+    m_swHeight(swHeight),
+	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB)	
+    {
+
+		m_depthBuffer.resize(swWidth*swHeight);
+		m_image=new unsigned char[m_swWidth*m_swHeight*4];
+		
+    }
+	
+	virtual ~Bullet2TinyRenderer()
+    {
+        for (int i=0;i<m_swRenderObjects.size();i++)
+        {
+            TinyRenderObjectData* d = m_swRenderObjects[i];
+            delete d;
+        }
+    }
+    
+	void clearBuffers(TGAColor& clearColor)
+	{
+		for(int y=0;y<m_swHeight;++y)
+		{
+			for(int x=0;x<m_swWidth;++x)
+			{
+				m_rgbColorBuffer.set(x,y,clearColor);
+				m_depthBuffer[x+y*m_swWidth] = -1e30f;
+			}
+		}
+		
+	}
+    
+	const TGAImage& getFrameBuffer() const
+	{
+		return m_rgbColorBuffer;
+	}
+	
+  
+    
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		int* colIndexPtr = m_colObject2gfxIndex[obj];
+		int* shapeIndexPtr = m_colShape2gfxIndex[obj->getCollisionShape()];
+		
+		
+		
+		//if (colIndex>=0 && shapeIndex>=0)
+		//{
+		//	m_col2gfxIndex.insert(colIndex,shapeIndex);
+		//}
+		
+	}
+	
+   /*	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+   	{
+   	    
+   	    
+   	    if (shapeIndex>=0)
+        {
+            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
+            swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
+			//swObj->createCube(1,1,1);
+            m_swRenderObjects.insert(shapeIndex,swObj);
+        }
+   	    return shapeIndex;
+   	}
+*/
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld, float viewMat[16])
+	{
+		//clear the color buffer
+		TGAColor clearColor;
+		clearColor.bgra[0] = 255;
+		clearColor.bgra[1] = 255;
+		clearColor.bgra[2] = 255;
+		clearColor.bgra[3] = 255;
+		
+		clearBuffers(clearColor);
+		
+		ATTRIBUTE_ALIGNED16(float modelMat[16]);
+		
+		
+		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
+		{
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			
+			int* colObjIndexPtr = m_colObject2gfxIndex[colObj];
+			
+			if (colObjIndexPtr)
+			{
+				int colObjIndex = *colObjIndexPtr;
+				TinyRenderObjectData* renderObj = m_swRenderObjects[colObjIndex];
+								
+				//sync the object transform
+				const btTransform& tr = colObj->getWorldTransform();
+				tr.getOpenGLMatrix(modelMat);
+				
+				for (int i=0;i<4;i++)
+				{
+					for (int j=0;j<4;j++)
+					{
+						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
+						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
+					}
+				}
+				TinyRenderer::renderObject(*renderObj);
+			}
+		}
+		
+		for(int y=0;y<m_swHeight;++y)
+		{
+			unsigned char*	pi=m_image+(y)*m_swWidth*3;
+			for(int x=0;x<m_swWidth;++x)
+			{
+				
+				const TGAColor& color = getFrameBuffer().get(x,y);
+				pi[0] = color.bgra[2];
+				pi[1] = color.bgra[1];
+				pi[2] = color.bgra[0];
+				pi+=3;
+				
+			}
+		} 
+		
+		static int counter=0;
+		counter++;
+		if (counter>10)
+		{
+			counter=0;
+			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
+		}
+		
+	}
+
+};
+

examples/TinyRenderer/TinyRenderer.cpp

@@ -10,7 +10,8 @@
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3MinMax.h"
 #include "../OpenGLWindow/ShapeData.h"
-
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
 Vec3f light_dir_world(1,1,1);
 
 
@@ -142,6 +143,40 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
         }
     }
 }
+
+void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices)
+{
+	if (0==m_model)
+    {
+		int numVertices = vertices.size();
+		int numIndices = indices.size();
+
+        m_model = new Model();
+		char relativeFileName[1024];
+		if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+		{
+			m_model->loadDiffuseTexture(relativeFileName);
+		}
+		
+        for (int i=0;i<numVertices;i++)
+        {
+            m_model->addVertex(vertices[i].x(),
+                         vertices[i].y(),
+                         vertices[i].z(),
+                         normals[i].x(),
+                         normals[i].y(),
+                         normals[i].z(),
+                         0.5,0.5);
+        }
+        for (int i=0;i<numIndices;i+=3)
+        {
+            m_model->addTriangle(indices[i],indices[i],indices[i],
+                                 indices[i+1],indices[i+1],indices[i+1],
+                                 indices[i+2],indices[i+2],indices[i+2]);
+        }
+    }
+}
+
 void TinyRenderObjectData::createCube(float halfExtentsX,float halfExtentsY,float halfExtentsZ)
 {
     m_model = new Model();

examples/TinyRenderer/TinyRenderer.h

@@ -3,6 +3,11 @@
 
 #include "geometry.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+
+
 #include "tgaimage.h"
 
 struct TinyRenderObjectData
@@ -30,6 +35,8 @@ struct TinyRenderObjectData
     void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
     void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
 	
+	void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);
+    
     void* m_userData;
     int m_userIndex;
 };

examples/TinyRenderer/main.cpp

@@ -89,9 +89,9 @@ int main(int argc, char* argv[])
 	TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj");
 	
 	//renderData.loadModel("african_head/african_head.obj");
-	//renderData.loadModel("floor.obj");
+	renderData.loadModel("floor.obj");
 	
-	renderData.createCube(1,1,1);
+	//renderData.createCube(1,1,1);
     
     
     myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);

examples/TinyRenderer/model.cpp

@@ -1,3 +1,4 @@
+
 #include <iostream>
 #include <fstream>
 #include <sstream>