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upgrade from tinyxml to tinyxml2

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This commit is contained in:
erwincoumans
2018-04-12 00:09:44 -07:00
parent 2bc246b0b1
commit 9c77e07494
39 changed files with 5439 additions and 11941 deletions
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48
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -1,5 +1,5 @@
#include "BulletMJCFImporter.h"
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "Bullet3Common/b3FileUtils.h"
#include "Bullet3Common/b3HashMap.h"
#include "LinearMath/btQuickprof.h"
@@ -32,7 +32,7 @@
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
using namespace tinyxml2;
@@ -232,7 +232,7 @@ struct BulletMJCFImporterInternalData
}
}
std::string sourceFileLocation(TiXmlElement* e)
std::string sourceFileLocation(XMLElement* e)
{
#if 0
//no C++11 snprintf etc
@@ -241,7 +241,7 @@ struct BulletMJCFImporterInternalData
return buf;
#else
char row[1024];
sprintf(row,"%d",e->Row());
sprintf(row,"%d",e->GetLineNum());
std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
return str;
#endif
@@ -261,7 +261,7 @@ struct BulletMJCFImporterInternalData
return 0;
}
void parseCompiler(TiXmlElement* root_xml, MJCFErrorLogger* logger)
void parseCompiler(XMLElement* root_xml, MJCFErrorLogger* logger)
{
const char* meshDirStr = root_xml->Attribute("meshdir");
@@ -284,10 +284,10 @@ struct BulletMJCFImporterInternalData
}
void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger)
void parseAssets(XMLElement* root_xml, MJCFErrorLogger* logger)
{
// <mesh name="index0" file="index0.stl"/>
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
for (XMLElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
{
std::string n = child_xml->Value();
if (n=="mesh")
@@ -307,11 +307,11 @@ struct BulletMJCFImporterInternalData
}
bool parseDefaults(MyMJCFDefaults& defaults, TiXmlElement* root_xml, MJCFErrorLogger* logger)
bool parseDefaults(MyMJCFDefaults& defaults, XMLElement* root_xml, MJCFErrorLogger* logger)
{
bool handled= false;
//rudimentary 'default' support, would need more work for better feature coverage
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
for (XMLElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
{
std::string n = child_xml->Value();
@@ -413,9 +413,9 @@ struct BulletMJCFImporterInternalData
handled=true;
return handled;
}
bool parseRootLevel(MyMJCFDefaults& defaults, TiXmlElement* root_xml,MJCFErrorLogger* logger)
bool parseRootLevel(MyMJCFDefaults& defaults, XMLElement* root_xml,MJCFErrorLogger* logger)
{
for (TiXmlElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
for (XMLElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
{
bool handled = false;
std::string n = rootxml->Value();
@@ -473,7 +473,7 @@ struct BulletMJCFImporterInternalData
return true;
}
bool parseJoint(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
bool parseJoint(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
{
bool jointHandled = false;
const char* jType = link_xml->Attribute("type");
@@ -649,7 +649,7 @@ struct BulletMJCFImporterInternalData
*/
return false;
}
bool parseGeom(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
bool parseGeom(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
{
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr==0)
@@ -963,7 +963,7 @@ struct BulletMJCFImporterInternalData
return handledGeomType;
}
btTransform parseTransform(TiXmlElement* link_xml, MJCFErrorLogger* logger)
btTransform parseTransform(XMLElement* link_xml, MJCFErrorLogger* logger)
{
btTransform tr;
tr.setIdentity();
@@ -1090,7 +1090,7 @@ struct BulletMJCFImporterInternalData
return orgChildLinkIndex;
}
bool parseBody(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
bool parseBody(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
{
MyMJCFDefaults curDefaults = defaults;
@@ -1142,7 +1142,7 @@ struct BulletMJCFImporterInternalData
jointTrans.setIdentity();
bool skipFixedJoint = false;
for (TiXmlElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
for (XMLElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
{
bool handled = false;
std::string n = xml->Value();
@@ -1482,16 +1482,16 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* logger)
{
TiXmlDocument xml_doc;
XMLDocument xml_doc;
xml_doc.Parse(xmlText);
if (xml_doc.Error())
{
logger->reportError(xml_doc.ErrorDesc());
logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError();
return false;
}
TiXmlElement *mujoco_xml = xml_doc.FirstChildElement("mujoco");
XMLElement *mujoco_xml = xml_doc.FirstChildElement("mujoco");
if (!mujoco_xml)
{
logger->reportWarning("Cannot find <mujoco> root element");
@@ -1507,28 +1507,28 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
{
m_data->parseDefaults(m_data->m_globalDefaults,link_xml,logger);
}
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("compiler"); link_xml; link_xml = link_xml->NextSiblingElement("compiler"))
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("compiler"); link_xml; link_xml = link_xml->NextSiblingElement("compiler"))
{
m_data->parseCompiler(link_xml,logger);
}
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("asset"); link_xml; link_xml = link_xml->NextSiblingElement("asset"))
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("asset"); link_xml; link_xml = link_xml->NextSiblingElement("asset"))
{
m_data->parseAssets(link_xml,logger);
}
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
{
m_data->parseRootLevel(m_data->m_globalDefaults, link_xml,logger);
}
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("worldbody"); link_xml; link_xml = link_xml->NextSiblingElement("worldbody"))
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("worldbody"); link_xml; link_xml = link_xml->NextSiblingElement("worldbody"))
{
m_data->parseRootLevel(m_data->m_globalDefaults, link_xml,logger);
}