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URDF loader: reuse the same resources finder routine for TinyRendererVisualShapeConverter

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This commit is contained in:
Oleg Klimov
2017-03-10 18:17:38 +03:00
parent 5b2a9d1a01
commit 82495f3c84
4 changed files with 170 additions and 247 deletions
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14
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -69,12 +69,22 @@ struct UrdfGeometry
double m_cylinderRadius;
double m_cylinderLength;
btVector3 m_planeNormal;
btVector3 m_planeNormal;
enum {
FILE_STL =1,
FILE_COLLADA =2,
FILE_OBJ =3,
};
int m_meshFileType;
std::string m_meshFileName;
btVector3 m_meshScale;
btVector3 m_meshScale;
};
bool findExistingMeshFile(const std::string& urdf_path, std::string fn,
const std::string& error_message_prefix,
std::string* out_found_filename, int* out_type); // intended to fill UrdfGeometry::m_meshFileName and Type, but can be used elsewhere
struct UrdfVisual
{
std::string m_sourceFileLocation;