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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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5
Extras/BulletRobotics/CMakeLists.txt
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@@ -59,10 +59,7 @@ SET(BulletRobotics_SRCS
../../examples/Utils/b3ReferenceFrameHelper.hpp ../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/Utils/ChromeTraceUtil.cpp ../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h

8
Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
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@@ -2,6 +2,7 @@ INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/tinyxml2
) )
ADD_LIBRARY( ADD_LIBRARY(
@@ -10,12 +11,7 @@ ADD_LIBRARY(
btBulletXmlWorldImporter.h btBulletXmlWorldImporter.h
string_split.cpp string_split.cpp
string_split.h string_split.h
tinyxml.cpp ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
tinyxml.h
tinystr.cpp
tinystr.h
tinyxmlerror.cpp
tinyxmlparser.cpp
) )
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES VERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES VERSION ${BULLET_VERSION})

135
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
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@@ -14,9 +14,10 @@ subject to the following restrictions:
*/ */
#include "btBulletXmlWorldImporter.h" #include "btBulletXmlWorldImporter.h"
#include "tinyxml.h" #include "tinyxml2.h"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
#include "string_split.h" #include "string_split.h"
using namespace tinyxml2;
struct MyLocalCaster struct MyLocalCaster
{ {
@@ -43,12 +44,12 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
} }
#if 0 #if 0
static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value) static int get_double_attribute_by_name(const XMLElement* pElement, const char* attribName,double* value)
{ {
if ( !pElement ) if ( !pElement )
return 0; return 0;
const TiXmlAttribute* pAttrib=pElement->FirstAttribute(); const XMLAttribute* pAttrib=pElement->FirstAttribute();
while (pAttrib) while (pAttrib)
{ {
if (pAttrib->Name()==attribName) if (pAttrib->Name()==attribName)
@@ -60,16 +61,16 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
} }
#endif #endif
static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value) static int get_int_attribute_by_name(const XMLElement* pElement, const char* attribName,int* value)
{ {
if ( !pElement ) if ( !pElement )
return 0; return 0;
const TiXmlAttribute* pAttrib=pElement->FirstAttribute(); const XMLAttribute* pAttrib=pElement->FirstAttribute();
while (pAttrib) while (pAttrib)
{ {
if (!strcmp(pAttrib->Name(),attribName)) if (!strcmp(pAttrib->Name(),attribName))
if (pAttrib->QueryIntValue(value)==TIXML_SUCCESS) if (pAttrib->QueryIntValue(value)==XML_SUCCESS)
return 1; return 1;
// if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval); // if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
pAttrib=pAttrib->Next(); pAttrib=pAttrib->Next();
@@ -84,7 +85,7 @@ void stringToFloatArray(const std::string& string, btAlignedObjectArray<float>&
bullet_utils::split( pieces, string, " "); bullet_utils::split( pieces, string, " ");
for ( int i = 0; i < pieces.size(); ++i) for ( int i = 0; i < pieces.size(); ++i)
{ {
assert(pieces[i]!=""); btAssert(pieces[i]!="");
floats.push_back((float)atof(pieces[i].c_str())); floats.push_back((float)atof(pieces[i].c_str()));
} }
@@ -95,7 +96,7 @@ static btVector3FloatData TextToVector3Data(const char* txt)
btAssert(txt); btAssert(txt);
btAlignedObjectArray<float> floats; btAlignedObjectArray<float> floats;
stringToFloatArray(txt, floats); stringToFloatArray(txt, floats);
assert(floats.size()==4); btAssert(floats.size()==4);
btVector3FloatData vec4; btVector3FloatData vec4;
vec4.m_floats[0] = floats[0]; vec4.m_floats[0] = floats[0];
@@ -105,13 +106,13 @@ static btVector3FloatData TextToVector3Data(const char* txt)
return vec4; return vec4;
} }
void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors) void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors)
{ {
TiXmlNode* flNode = pParent->FirstChild("m_floats"); XMLNode* flNode = pParent->FirstChildElement("m_floats");
btAssert(flNode); btAssert(flNode);
while (flNode && flNode->FirstChild()) while (flNode && flNode->FirstChildElement())
{ {
TiXmlText* pText = flNode->FirstChild()->ToText(); XMLText* pText = flNode->FirstChildElement()->ToText();
// printf("value = %s\n",pText->Value()); // printf("value = %s\n",pText->Value());
btVector3FloatData vec4 = TextToVector3Data(pText->Value()); btVector3FloatData vec4 = TextToVector3Data(pText->Value());
vectors.push_back(vec4); vectors.push_back(vec4);
@@ -122,20 +123,20 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_INT_VALUE(xmlnode, targetdata, argname) \ #define SET_INT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\ btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\ if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
(targetdata)->argname= (int)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText()); (targetdata)->argname= (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \ #define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\ btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\ if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
(targetdata)->argname= (float)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText()); (targetdata)->argname= (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \ #define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
{\ {\
TiXmlNode* node = xmlnode->FirstChild(#argname);\ XMLNode* node = xmlnode->FirstChildElement(#argname);\
btAssert(node);\ btAssert(node);\
if (node)\ if (node)\
{\ {\
@@ -148,11 +149,11 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_VECTOR4_VALUE(xmlnode, targetdata, argname) \ #define SET_VECTOR4_VALUE(xmlnode, targetdata, argname) \
{\ {\
TiXmlNode* flNode = xmlnode->FirstChild(#argname);\ XMLNode* flNode = xmlnode->FirstChildElement(#argname);\
btAssert(flNode);\ btAssert(flNode);\
if (flNode && flNode->FirstChild())\ if (flNode && flNode->FirstChildElement())\
{\ {\
const char* txt= flNode->FirstChild()->ToElement()->GetText();\ const char* txt= flNode->FirstChildElement()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\ btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_floats[0] = vec4.m_floats[0];\ (targetdata)->argname.m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_floats[1] = vec4.m_floats[1];\ (targetdata)->argname.m_floats[1] = vec4.m_floats[1];\
@@ -164,22 +165,22 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_MATRIX33_VALUE(n, targetdata, argname) \ #define SET_MATRIX33_VALUE(n, targetdata, argname) \
{\ {\
TiXmlNode* xmlnode = n->FirstChild(#argname);\ XMLNode* xmlnode = n->FirstChildElement(#argname);\
btAssert(xmlnode);\ btAssert(xmlnode);\
if (xmlnode)\ if (xmlnode)\
{\ {\
TiXmlNode* eleNode = xmlnode->FirstChild("m_el");\ XMLNode* eleNode = xmlnode->FirstChildElement("m_el");\
btAssert(eleNode);\ btAssert(eleNode);\
if (eleNode&& eleNode->FirstChild())\ if (eleNode&& eleNode->FirstChildElement())\
{\ {\
const char* txt= eleNode->FirstChild()->ToElement()->GetText();\ const char* txt= eleNode->FirstChildElement()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\ btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0];\ (targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1];\ (targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2];\ (targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\ (targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\
\ \
TiXmlNode* n1 = eleNode->FirstChild()->NextSibling();\ XMLNode* n1 = eleNode->FirstChildElement()->NextSibling();\
btAssert(n1);\ btAssert(n1);\
if (n1)\ if (n1)\
{\ {\
@@ -190,7 +191,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
(targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2];\ (targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\ (targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\
\ \
TiXmlNode* n2 = n1->NextSibling();\ XMLNode* n2 = n1->NextSibling();\
btAssert(n2);\ btAssert(n2);\
if (n2)\ if (n2)\
{\ {\
@@ -208,7 +209,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_TRANSFORM_VALUE(n, targetdata, argname) \ #define SET_TRANSFORM_VALUE(n, targetdata, argname) \
{\ {\
TiXmlNode* trNode = n->FirstChild(#argname);\ XMLNode* trNode = n->FirstChildElement(#argname);\
btAssert(trNode);\ btAssert(trNode);\
if (trNode)\ if (trNode)\
{\ {\
@@ -218,7 +219,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
}\ }\
void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent, btCollisionShapeData* colShapeData) void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, btCollisionShapeData* colShapeData)
{ {
SET_INT_VALUE(pParent,colShapeData,m_shapeType) SET_INT_VALUE(pParent,colShapeData,m_shapeType)
colShapeData->m_name = 0; colShapeData->m_name = 0;
@@ -226,17 +227,17 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16); btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
TiXmlNode* xmlConvexInt = pParent->FirstChild("m_convexInternalShapeData"); XMLNode* xmlConvexInt = pParent->FirstChildElement("m_convexInternalShapeData");
btAssert(xmlConvexInt); btAssert(xmlConvexInt);
TiXmlNode* xmlColShape = xmlConvexInt ->FirstChild("m_collisionShapeData"); XMLNode* xmlColShape = xmlConvexInt ->FirstChildElement("m_collisionShapeData");
btAssert(xmlColShape); btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&convexHullData->m_convexInternalShapeData.m_collisionShapeData); deSerializeCollisionShapeData(xmlColShape,&convexHullData->m_convexInternalShapeData.m_collisionShapeData);
@@ -249,7 +250,7 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) //#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
{ {
TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr"); XMLNode* node = pParent->FirstChildElement("m_unscaledPointsFloatPtr");
btAssert(node); btAssert(node);
if (node) if (node)
{ {
@@ -268,7 +269,7 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
m_pointerLookup.insert(cast.m_ptr,convexHullData); m_pointerLookup.insert(cast.m_ptr,convexHullData);
} }
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -276,10 +277,10 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
int numChildren = 0; int numChildren = 0;
btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>; btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
{ {
TiXmlNode* transNode = pParent->FirstChild("m_transform"); XMLNode* transNode = pParent->FirstChildElement("m_transform");
TiXmlNode* colShapeNode = pParent->FirstChild("m_childShape"); XMLNode* colShapeNode = pParent->FirstChildElement("m_childShape");
TiXmlNode* marginNode = pParent->FirstChild("m_childMargin"); XMLNode* marginNode = pParent->FirstChildElement("m_childMargin");
TiXmlNode* childTypeNode = pParent->FirstChild("m_childShapeType"); XMLNode* childTypeNode = pParent->FirstChildElement("m_childShapeType");
int i=0; int i=0;
while (transNode && colShapeNode && marginNode && childTypeNode) while (transNode && colShapeNode && marginNode && childTypeNode)
@@ -305,10 +306,10 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
compoundChildArrayPtr->at(i).m_childMargin = (float)atof(marginNode->ToElement()->GetText()); compoundChildArrayPtr->at(i).m_childMargin = (float)atof(marginNode->ToElement()->GetText());
} }
transNode = transNode->NextSibling("m_transform"); transNode = transNode->NextSiblingElement("m_transform");
colShapeNode = colShapeNode->NextSibling("m_childShape"); colShapeNode = colShapeNode->NextSiblingElement("m_childShape");
marginNode = marginNode->NextSibling("m_childMargin"); marginNode = marginNode->NextSiblingElement("m_childMargin");
childTypeNode = childTypeNode->NextSibling("m_childShapeType"); childTypeNode = childTypeNode->NextSiblingElement("m_childShapeType");
i++; i++;
} }
@@ -326,24 +327,24 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
} }
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16); btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
TiXmlNode* xmlColShape = pParent ->FirstChild("m_collisionShapeData"); XMLNode* xmlColShape = pParent ->FirstChildElement("m_collisionShapeData");
btAssert(xmlColShape); btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&compoundData->m_collisionShapeData); deSerializeCollisionShapeData(xmlColShape,&compoundData->m_collisionShapeData);
SET_INT_VALUE(pParent, compoundData,m_numChildShapes); SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData"); XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData ); btAssert(xmlShapeData );
{ {
TiXmlNode* node = pParent->FirstChild("m_childShapePtr");\ XMLNode* node = pParent->FirstChildElement("m_childShapePtr");\
btAssert(node); btAssert(node);
while (node) while (node)
{ {
@@ -351,7 +352,7 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
MyLocalCaster cast; MyLocalCaster cast;
cast.m_int = (int) atof(txt); cast.m_int = (int) atof(txt);
compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr; compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
node = node->NextSibling("m_childShapePtr"); node = node->NextSiblingElement("m_childShapePtr");
} }
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*); //SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@@ -363,14 +364,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
} }
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16); btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData"); XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData ); btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&planeData->m_collisionShapeData); deSerializeCollisionShapeData(xmlShapeData,&planeData->m_collisionShapeData);
@@ -383,7 +384,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
} }
void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent)
{ {
btContactSolverInfo solverInfo; btContactSolverInfo solverInfo;
//btVector3 gravity(0,0,0); //btVector3 gravity(0,0,0);
@@ -393,7 +394,7 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
//gravity and world info //gravity and world info
} }
void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -402,7 +403,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16); btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
memset(convexShape,0,sizeof(btConvexInternalShapeData)); memset(convexShape,0,sizeof(btConvexInternalShapeData));
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData"); XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData ); btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData); deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData);
@@ -433,7 +434,7 @@ enum btTypedConstraintType
*/ */
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int); get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -441,7 +442,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16); btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
TiXmlNode* n = pParent->FirstChild("m_typeConstraintData"); XMLNode* n = pParent->FirstChildElement("m_typeConstraintData");
if (n) if (n)
{ {
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*); SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*);
@@ -473,7 +474,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
m_pointerLookup.insert(cast.m_ptr,dof6Data); m_pointerLookup.insert(cast.m_ptr,dof6Data);
} }
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent) void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
@@ -485,7 +486,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16); btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16);
TiXmlNode* n = pParent->FirstChild("m_collisionObjectData"); XMLNode* n = pParent->FirstChildElement("m_collisionObjectData");
if (n) if (n)
{ {
@@ -661,14 +662,14 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
} }
void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pParent) void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pParent)
{ {
int numChildren = 0; int numChildren = 0;
btAssert(pParent); btAssert(pParent);
if (pParent) if (pParent)
{ {
TiXmlNode*pChild; XMLNode*pChild;
for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling(), numChildren++) for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling(), numChildren++)
{ {
// printf("child Name=%s\n", pChild->Value()); // printf("child Name=%s\n", pChild->Value());
if (!strcmp(pChild->Value(),"btVector3FloatData")) if (!strcmp(pChild->Value(),"btVector3FloatData"))
@@ -848,15 +849,15 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
} }
} }
void btBulletXmlWorldImporter::auto_serialize(TiXmlNode* pParent) void btBulletXmlWorldImporter::auto_serialize(XMLNode* pParent)
{ {
// TiXmlElement* root = pParent->FirstChildElement("bullet_physics"); // XMLElement* root = pParent->FirstChildElement("bullet_physics");
if (pParent) if (pParent)
{ {
TiXmlNode*pChild; XMLNode*pChild;
for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling()) for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling())
{ {
if (pChild->Type()==TiXmlNode::TINYXML_ELEMENT) //if (pChild->Type()==XMLNode::TINYXML_ELEMENT)
{ {
// printf("root Name=%s\n", pChild->Value()); // printf("root Name=%s\n", pChild->Value());
auto_serialize_root_level_children(pChild); auto_serialize_root_level_children(pChild);
@@ -873,9 +874,9 @@ void btBulletXmlWorldImporter::auto_serialize(TiXmlNode* pParent)
bool btBulletXmlWorldImporter::loadFile(const char* fileName) bool btBulletXmlWorldImporter::loadFile(const char* fileName)
{ {
TiXmlDocument doc(fileName); XMLDocument doc;
bool loadOkay = doc.LoadFile(); bool loadOkay = doc.LoadFile(fileName);
//dump_to_stdout(&doc,0); //dump_to_stdout(&doc,0);

33
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -19,7 +19,12 @@ subject to the following restrictions:
#include "LinearMath/btScalar.h" #include "LinearMath/btScalar.h"
class btDynamicsWorld; class btDynamicsWorld;
class TiXmlNode;
namespace tinyxml2
{
class XMLNode;
};
struct btConvexInternalShapeData; struct btConvexInternalShapeData;
struct btCollisionShapeData; struct btCollisionShapeData;
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
@@ -40,6 +45,8 @@ struct btCompoundShapeChildData;
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "btWorldImporter.h" #include "btWorldImporter.h"
class btBulletXmlWorldImporter : public btWorldImporter class btBulletXmlWorldImporter : public btWorldImporter
{ {
@@ -52,28 +59,28 @@ protected:
int m_fileVersion; int m_fileVersion;
bool m_fileOk; bool m_fileOk;
void auto_serialize_root_level_children(TiXmlNode* pParent); void auto_serialize_root_level_children(tinyxml2::XMLNode* pParent);
void auto_serialize(TiXmlNode* pParent); void auto_serialize(tinyxml2::XMLNode* pParent);
void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors); void deSerializeVector3FloatData(tinyxml2::XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
void fixupCollisionDataPointers(btCollisionShapeData* shapeData); void fixupCollisionDataPointers(btCollisionShapeData* shapeData);
void fixupConstraintData(btTypedConstraintData2* tcd); void fixupConstraintData(btTypedConstraintData2* tcd);
//collision shapes data //collision shapes data
void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData); void deSerializeCollisionShapeData(tinyxml2::XMLNode* pParent,btCollisionShapeData* colShapeData);
void deSerializeConvexInternalShapeData(TiXmlNode* pParent); void deSerializeConvexInternalShapeData(tinyxml2::XMLNode* pParent);
void deSerializeStaticPlaneShapeData(TiXmlNode* pParent); void deSerializeStaticPlaneShapeData(tinyxml2::XMLNode* pParent);
void deSerializeCompoundShapeData(TiXmlNode* pParent); void deSerializeCompoundShapeData(tinyxml2::XMLNode* pParent);
void deSerializeCompoundShapeChildData(TiXmlNode* pParent); void deSerializeCompoundShapeChildData(tinyxml2::XMLNode* pParent);
void deSerializeConvexHullShapeData(TiXmlNode* pParent); void deSerializeConvexHullShapeData(tinyxml2::XMLNode* pParent);
void deSerializeDynamicsWorldData(TiXmlNode* parent); void deSerializeDynamicsWorldData(tinyxml2::XMLNode* parent);
///bodies ///bodies
void deSerializeRigidBodyFloatData(TiXmlNode* pParent); void deSerializeRigidBodyFloatData(tinyxml2::XMLNode* pParent);
///constraints ///constraints
void deSerializeGeneric6DofConstraintData(TiXmlNode* pParent); void deSerializeGeneric6DofConstraintData(tinyxml2::XMLNode* pParent);
public: public:
btBulletXmlWorldImporter(btDynamicsWorld* world); btBulletXmlWorldImporter(btDynamicsWorld* world);

6
Extras/Serialize/BulletXmlWorldImporter/premake4.lua
View File

@@ -5,10 +5,12 @@
includedirs { includedirs {
"../BulletWorldImporter", "../BulletWorldImporter",
"../BulletFileLoader", "../BulletFileLoader",
"../../../src" "../../../src",
"../../../examples/ThirdPartyLibs/tinyxml2"
} }
files { files {
"**.cpp", "**.cpp",
"**.h" "**.h",
"../../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
} }

111
Extras/Serialize/BulletXmlWorldImporter/tinystr.cpp
View File

@@ -1,111 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
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.
*/
#ifndef TIXML_USE_STL
#include "tinystr.h"
// Error value for find primitive
const TiXmlString::size_type TiXmlString::npos = static_cast< TiXmlString::size_type >(-1);
// Null rep.
TiXmlString::Rep TiXmlString::nullrep_ = { 0, 0, { '\0' } };
void TiXmlString::reserve (size_type cap)
{
if (cap > capacity())
{
TiXmlString tmp;
tmp.init(length(), cap);
memcpy(tmp.start(), data(), length());
swap(tmp);
}
}
TiXmlString& TiXmlString::assign(const char* str, size_type len)
{
size_type cap = capacity();
if (len > cap || cap > 3*(len + 8))
{
TiXmlString tmp;
tmp.init(len);
memcpy(tmp.start(), str, len);
swap(tmp);
}
else
{
memmove(start(), str, len);
set_size(len);
}
return *this;
}
TiXmlString& TiXmlString::append(const char* str, size_type len)
{
size_type newsize = length() + len;
if (newsize > capacity())
{
reserve (newsize + capacity());
}
memmove(finish(), str, len);
set_size(newsize);
return *this;
}
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b)
{
TiXmlString tmp;
tmp.reserve(a.length() + b.length());
tmp += a;
tmp += b;
return tmp;
}
TiXmlString operator + (const TiXmlString & a, const char* b)
{
TiXmlString tmp;
TiXmlString::size_type b_len = static_cast<TiXmlString::size_type>( strlen(b) );
tmp.reserve(a.length() + b_len);
tmp += a;
tmp.append(b, b_len);
return tmp;
}
TiXmlString operator + (const char* a, const TiXmlString & b)
{
TiXmlString tmp;
TiXmlString::size_type a_len = static_cast<TiXmlString::size_type>( strlen(a) );
tmp.reserve(a_len + b.length());
tmp.append(a, a_len);
tmp += b;
return tmp;
}
#endif // TIXML_USE_STL

305
Extras/Serialize/BulletXmlWorldImporter/tinystr.h
View File

@@ -1,305 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
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.
*/
#ifndef TIXML_USE_STL
#ifndef TIXML_STRING_INCLUDED
#define TIXML_STRING_INCLUDED
#include <assert.h>
#include <string.h>
/* The support for explicit isn't that universal, and it isn't really
required - it is used to check that the TiXmlString class isn't incorrectly
used. Be nice to old compilers and macro it here:
*/
#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
// Microsoft visual studio, version 6 and higher.
#define TIXML_EXPLICIT explicit
#elif defined(__GNUC__) && (__GNUC__ >= 3 )
// GCC version 3 and higher.s
#define TIXML_EXPLICIT explicit
#else
#define TIXML_EXPLICIT
#endif
/*
TiXmlString is an emulation of a subset of the std::string template.
Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
Only the member functions relevant to the TinyXML project have been implemented.
The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
a string and there's no more room, we allocate a buffer twice as big as we need.
*/
class TiXmlString
{
public :
// The size type used
typedef size_t size_type;
// Error value for find primitive
static const size_type npos; // = -1;
// TiXmlString empty constructor
TiXmlString () : rep_(&nullrep_)
{
}
// TiXmlString copy constructor
TiXmlString ( const TiXmlString & copy) : rep_(0)
{
init(copy.length());
memcpy(start(), copy.data(), length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
{
init( static_cast<size_type>( strlen(copy) ));
memcpy(start(), copy, length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
{
init(len);
memcpy(start(), str, len);
}
// TiXmlString destructor
~TiXmlString ()
{
quit();
}
TiXmlString& operator = (const char * copy)
{
return assign( copy, (size_type)strlen(copy));
}
TiXmlString& operator = (const TiXmlString & copy)
{
return assign(copy.start(), copy.length());
}
// += operator. Maps to append
TiXmlString& operator += (const char * suffix)
{
return append(suffix, static_cast<size_type>( strlen(suffix) ));
}
// += operator. Maps to append
TiXmlString& operator += (char single)
{
return append(&single, 1);
}
// += operator. Maps to append
TiXmlString& operator += (const TiXmlString & suffix)
{
return append(suffix.data(), suffix.length());
}
// Convert a TiXmlString into a null-terminated char *
const char * c_str () const { return rep_->str; }
// Convert a TiXmlString into a char * (need not be null terminated).
const char * data () const { return rep_->str; }
// Return the length of a TiXmlString
size_type length () const { return rep_->size; }
// Alias for length()
size_type size () const { return rep_->size; }
// Checks if a TiXmlString is empty
bool empty () const { return rep_->size == 0; }
// Return capacity of string
size_type capacity () const { return rep_->capacity; }
// single char extraction
const char& at (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// [] operator
char& operator [] (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// find a char in a string. Return TiXmlString::npos if not found
size_type find (char lookup) const
{
return find(lookup, 0);
}
// find a char in a string from an offset. Return TiXmlString::npos if not found
size_type find (char tofind, size_type offset) const
{
if (offset >= length()) return npos;
for (const char* p = c_str() + offset; *p != '\0'; ++p)
{
if (*p == tofind) return static_cast< size_type >( p - c_str() );
}
return npos;
}
void clear ()
{
//Lee:
//The original was just too strange, though correct:
// TiXmlString().swap(*this);
//Instead use the quit & re-init:
quit();
init(0,0);
}
/* Function to reserve a big amount of data when we know we'll need it. Be aware that this
function DOES NOT clear the content of the TiXmlString if any exists.
*/
void reserve (size_type cap);
TiXmlString& assign (const char* str, size_type len);
TiXmlString& append (const char* str, size_type len);
void swap (TiXmlString& other)
{
Rep* r = rep_;
rep_ = other.rep_;
other.rep_ = r;
}
private:
void init(size_type sz) { init(sz, sz); }
void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
char* start() const { return rep_->str; }
char* finish() const { return rep_->str + rep_->size; }
struct Rep
{
size_type size, capacity;
char str[1];
};
void init(size_type sz, size_type cap)
{
if (cap)
{
// Lee: the original form:
// rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
// doesn't work in some cases of new being overloaded. Switching
// to the normal allocation, although use an 'int' for systems
// that are overly picky about structure alignment.
const size_type bytesNeeded = sizeof(Rep) + cap;
const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int );
rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
rep_->str[ rep_->size = sz ] = '\0';
rep_->capacity = cap;
}
else
{
rep_ = &nullrep_;
}
}
void quit()
{
if (rep_ != &nullrep_)
{
// The rep_ is really an array of ints. (see the allocator, above).
// Cast it back before delete, so the compiler won't incorrectly call destructors.
delete [] ( reinterpret_cast<int*>( rep_ ) );
}
}
Rep * rep_;
static Rep nullrep_;
} ;
inline bool operator == (const TiXmlString & a, const TiXmlString & b)
{
return ( a.length() == b.length() ) // optimization on some platforms
&& ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare
}
inline bool operator < (const TiXmlString & a, const TiXmlString & b)
{
return strcmp(a.c_str(), b.c_str()) < 0;
}
inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; }
inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
TiXmlString operator + (const TiXmlString & a, const char* b);
TiXmlString operator + (const char* a, const TiXmlString & b);
/*
TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
Only the operators that we need for TinyXML have been developped.
*/
class TiXmlOutStream : public TiXmlString
{
public :
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const TiXmlString & in)
{
*this += in;
return *this;
}
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const char * in)
{
*this += in;
return *this;
}
} ;
#endif // TIXML_STRING_INCLUDED
#endif // TIXML_USE_STL

1886
Extras/Serialize/BulletXmlWorldImporter/tinyxml.cpp
View File

File diff suppressed because it is too large Load Diff

1805
Extras/Serialize/BulletXmlWorldImporter/tinyxml.h
View File

File diff suppressed because it is too large Load Diff

52
Extras/Serialize/BulletXmlWorldImporter/tinyxmlerror.cpp
View File

@@ -1,52 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
Original code (2.0 and earlier )copyright (c) 2000-2006 Lee Thomason (www.grinninglizard.com)
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 "tinyxml.h"
// The goal of the seperate error file is to make the first
// step towards localization. tinyxml (currently) only supports
// english error messages, but the could now be translated.
//
// It also cleans up the code a bit.
//
const char* TiXmlBase::errorString[ TiXmlBase::TIXML_ERROR_STRING_COUNT ] =
{
"No error",
"Error",
"Failed to open file",
"Error parsing Element.",
"Failed to read Element name",
"Error reading Element value.",
"Error reading Attributes.",
"Error: empty tag.",
"Error reading end tag.",
"Error parsing Unknown.",
"Error parsing Comment.",
"Error parsing Declaration.",
"Error document empty.",
"Error null (0) or unexpected EOF found in input stream.",
"Error parsing CDATA.",
"Error when TiXmlDocument added to document, because TiXmlDocument can only be at the root.",
};

1638
Extras/Serialize/BulletXmlWorldImporter/tinyxmlparser.cpp
View File

File diff suppressed because it is too large Load Diff

11
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -338,15 +338,8 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/stb_image/stb_image.h ../ThirdPartyLibs/stb_image/stb_image.h
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp ../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
InProcessExampleBrowser.cpp InProcessExampleBrowser.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
) )

7
examples/ExampleBrowser/premake4.lua
View File

@@ -164,14 +164,11 @@ project "App_BulletExampleBrowser"
"../RigidBody/RigidBodySoftContact.cpp", "../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*", "../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",
"../ThirdPartyLibs/BussIK/*", "../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h", "../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/tinyxml/tinystr.cpp", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp", "../ThirdPartyLibs/tinyxml2/tinyxml2.h",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
} }
if (hasCL and findOpenGL3()) then if (hasCL and findOpenGL3()) then
files { files {

71
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@@ -20,7 +20,8 @@ subject to the following restrictions:
#include <stdio.h> //fopen #include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
#include <string> #include <string>
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h" #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
using namespace tinyxml2;
#include "Bullet3Common/b3FileUtils.h" #include "Bullet3Common/b3FileUtils.h"
#include "LinearMath/btHashMap.h" #include "LinearMath/btHashMap.h"
@@ -90,14 +91,14 @@ void tokenize(const std::string& str, AddToken& tokenAdder, const std::string& d
} }
void readFloatArray(TiXmlElement* source, btAlignedObjectArray<float>& floatArray, int& componentStride) void readFloatArray(XMLElement* source, btAlignedObjectArray<float>& floatArray, int& componentStride)
{ {
int numVals, stride; int numVals, stride;
TiXmlElement* array = source->FirstChildElement("float_array"); XMLElement* array = source->FirstChildElement("float_array");
if(array) if(array)
{ {
componentStride = 1; componentStride = 1;
if (source->FirstChildElement("technique_common")->FirstChildElement("accessor")->QueryIntAttribute("stride", &stride)!= TIXML_NO_ATTRIBUTE) if (source->FirstChildElement("technique_common")->FirstChildElement("accessor")->QueryIntAttribute("stride", &stride)!= XML_NO_ATTRIBUTE)
{ {
componentStride = stride; componentStride = stride;
} }
@@ -140,11 +141,11 @@ btVector4 getVector4FromXmlText(const char* text)
} }
void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btHashMap<btHashString,int>& name2Shape, float extraScaling) void readLibraryGeometries(XMLDocument& doc, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btHashMap<btHashString,int>& name2Shape, float extraScaling)
{ {
btHashMap<btHashString,TiXmlElement* > allSources; btHashMap<btHashString,XMLElement* > allSources;
btHashMap<btHashString,VertexSource> vertexSources; btHashMap<btHashString,VertexSource> vertexSources;
for(TiXmlElement* geometry = doc.RootElement()->FirstChildElement("library_geometries")->FirstChildElement("geometry"); for(XMLElement* geometry = doc.RootElement()->FirstChildElement("library_geometries")->FirstChildElement("geometry");
geometry != NULL; geometry = geometry->NextSiblingElement("geometry")) geometry != NULL; geometry = geometry->NextSiblingElement("geometry"))
{ {
btAlignedObjectArray<btVector3> vertexPositions; btAlignedObjectArray<btVector3> vertexPositions;
@@ -152,11 +153,11 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
btAlignedObjectArray<int> indices; btAlignedObjectArray<int> indices;
const char* geometryName = geometry->Attribute("id"); const char* geometryName = geometry->Attribute("id");
for (TiXmlElement* mesh = geometry->FirstChildElement("mesh");(mesh != NULL); mesh = mesh->NextSiblingElement("mesh")) for (XMLElement* mesh = geometry->FirstChildElement("mesh");(mesh != NULL); mesh = mesh->NextSiblingElement("mesh"))
{ {
TiXmlElement* vertices2 = mesh->FirstChildElement("vertices"); XMLElement* vertices2 = mesh->FirstChildElement("vertices");
for (TiXmlElement* source = mesh->FirstChildElement("source");source != NULL;source = source->NextSiblingElement("source")) for (XMLElement* source = mesh->FirstChildElement("source");source != NULL;source = source->NextSiblingElement("source"))
{ {
const char* srcId= source->Attribute("id"); const char* srcId= source->Attribute("id");
// printf("source id=%s\n",srcId); // printf("source id=%s\n",srcId);
@@ -165,7 +166,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
const char* vertexId = vertices2->Attribute("id"); const char* vertexId = vertices2->Attribute("id");
//printf("vertices id=%s\n",vertexId); //printf("vertices id=%s\n",vertexId);
VertexSource vs; VertexSource vs;
for(TiXmlElement* input = vertices2->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input")) for(XMLElement* input = vertices2->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input"))
{ {
const char* sem = input->Attribute("semantic"); const char* sem = input->Attribute("semantic");
std::string semName(sem); std::string semName(sem);
@@ -187,7 +188,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
} }
vertexSources.insert(vertexId,vs); vertexSources.insert(vertexId,vs);
for (TiXmlElement* primitive = mesh->FirstChildElement("triangles"); primitive; primitive = primitive->NextSiblingElement("triangles")) for (XMLElement* primitive = mesh->FirstChildElement("triangles"); primitive; primitive = primitive->NextSiblingElement("triangles"))
{ {
std::string positionSourceName; std::string positionSourceName;
std::string normalSourceName; std::string normalSourceName;
@@ -199,7 +200,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
int numIndices = 0; int numIndices = 0;
{ {
for (TiXmlElement* input = primitive->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input")) for (XMLElement* input = primitive->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input"))
{ {
const char* sem = input->Attribute("semantic"); const char* sem = input->Attribute("semantic");
std::string semName(sem); std::string semName(sem);
@@ -241,7 +242,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
} }
btAlignedObjectArray<float> positionFloatArray; btAlignedObjectArray<float> positionFloatArray;
int posStride=1; int posStride=1;
TiXmlElement** sourcePtr = allSources[positionSourceName.c_str()]; XMLElement** sourcePtr = allSources[positionSourceName.c_str()];
if (sourcePtr) if (sourcePtr)
{ {
readFloatArray(*sourcePtr,positionFloatArray, posStride); readFloatArray(*sourcePtr,positionFloatArray, posStride);
@@ -334,7 +335,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
}//for each geometry }//for each geometry
} }
void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, const btMatrix4x4& parentTransMat) void readNodeHierarchy(XMLElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, const btMatrix4x4& parentTransMat)
{ {
@@ -343,7 +344,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
///todo(erwincoumans) we probably have to read the elements 'translate', 'scale', 'rotate' and 'matrix' in-order and accumulate them... ///todo(erwincoumans) we probably have to read the elements 'translate', 'scale', 'rotate' and 'matrix' in-order and accumulate them...
{ {
for (TiXmlElement* transElem = node->FirstChildElement("matrix");transElem;transElem=node->NextSiblingElement("matrix")) for (XMLElement* transElem = node->FirstChildElement("matrix");transElem;transElem=node->NextSiblingElement("matrix"))
{ {
if (transElem->GetText()) if (transElem->GetText())
{ {
@@ -367,7 +368,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
} }
{ {
for (TiXmlElement* transElem = node->FirstChildElement("translate");transElem;transElem=node->NextSiblingElement("translate")) for (XMLElement* transElem = node->FirstChildElement("translate");transElem;transElem=node->NextSiblingElement("translate"))
{ {
if (transElem->GetText()) if (transElem->GetText())
{ {
@@ -381,7 +382,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
} }
} }
{ {
for(TiXmlElement* scaleElem = node->FirstChildElement("scale"); for(XMLElement* scaleElem = node->FirstChildElement("scale");
scaleElem!= NULL; scaleElem= node->NextSiblingElement("scale")) scaleElem!= NULL; scaleElem= node->NextSiblingElement("scale"))
{ {
if (scaleElem->GetText()) if (scaleElem->GetText())
@@ -394,7 +395,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
} }
} }
{ {
for(TiXmlElement* rotateElem = node->FirstChildElement("rotate"); for(XMLElement* rotateElem = node->FirstChildElement("rotate");
rotateElem!= NULL; rotateElem= node->NextSiblingElement("rotate")) rotateElem!= NULL; rotateElem= node->NextSiblingElement("rotate"))
{ {
if (rotateElem->GetText()) if (rotateElem->GetText())
@@ -411,7 +412,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
nodeTrans = parentTransMat*nodeTrans; nodeTrans = parentTransMat*nodeTrans;
for (TiXmlElement* instanceGeom = node->FirstChildElement("instance_geometry"); for (XMLElement* instanceGeom = node->FirstChildElement("instance_geometry");
instanceGeom!=0; instanceGeom!=0;
instanceGeom=instanceGeom->NextSiblingElement("instance_geometry")) instanceGeom=instanceGeom->NextSiblingElement("instance_geometry"))
{ {
@@ -432,22 +433,22 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
} }
} }
for(TiXmlElement* childNode = node->FirstChildElement("node"); for(XMLElement* childNode = node->FirstChildElement("node");
childNode!= NULL; childNode = childNode->NextSiblingElement("node")) childNode!= NULL; childNode = childNode->NextSiblingElement("node"))
{ {
readNodeHierarchy(childNode,name2Shape,visualShapeInstances, nodeTrans); readNodeHierarchy(childNode,name2Shape,visualShapeInstances, nodeTrans);
} }
} }
void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances) void readVisualSceneInstanceGeometries(XMLDocument& doc, btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances)
{ {
btHashMap<btHashString,TiXmlElement* > allVisualScenes; btHashMap<btHashString,XMLElement* > allVisualScenes;
TiXmlElement* libVisualScenes = doc.RootElement()->FirstChildElement("library_visual_scenes"); XMLElement* libVisualScenes = doc.RootElement()->FirstChildElement("library_visual_scenes");
if (libVisualScenes==0) if (libVisualScenes==0)
return; return;
{ {
for(TiXmlElement* scene = libVisualScenes->FirstChildElement("visual_scene"); for(XMLElement* scene = libVisualScenes->FirstChildElement("visual_scene");
scene != NULL; scene = scene->NextSiblingElement("visual_scene")) scene != NULL; scene = scene->NextSiblingElement("visual_scene"))
{ {
const char* sceneName = scene->Attribute("id"); const char* sceneName = scene->Attribute("id");
@@ -455,16 +456,16 @@ void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap<btHashStrin
} }
} }
TiXmlElement* scene = 0; XMLElement* scene = 0;
{ {
TiXmlElement* scenes = doc.RootElement()->FirstChildElement("scene"); XMLElement* scenes = doc.RootElement()->FirstChildElement("scene");
if (scenes) if (scenes)
{ {
TiXmlElement* instanceSceneReference = scenes->FirstChildElement("instance_visual_scene"); XMLElement* instanceSceneReference = scenes->FirstChildElement("instance_visual_scene");
if (instanceSceneReference) if (instanceSceneReference)
{ {
const char* instanceSceneUrl = instanceSceneReference->Attribute("url"); const char* instanceSceneUrl = instanceSceneReference->Attribute("url");
TiXmlElement** sceneInstancePtr = allVisualScenes[instanceSceneUrl+1];//skip # XMLElement** sceneInstancePtr = allVisualScenes[instanceSceneUrl+1];//skip #
if (sceneInstancePtr) if (sceneInstancePtr)
{ {
scene = *sceneInstancePtr; scene = *sceneInstancePtr;
@@ -475,7 +476,7 @@ void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap<btHashStrin
if (scene) if (scene)
{ {
for(TiXmlElement* node = scene->FirstChildElement("node"); for(XMLElement* node = scene->FirstChildElement("node");
node != NULL; node = node->NextSiblingElement("node")) node != NULL; node = node->NextSiblingElement("node"))
{ {
btMatrix4x4 identity; btMatrix4x4 identity;
@@ -488,11 +489,11 @@ void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap<btHashStrin
} }
} }
void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr, float& unitMeterScaling, int clientUpAxis) void getUnitMeterScalingAndUpAxisTransform(XMLDocument& doc, btTransform& tr, float& unitMeterScaling, int clientUpAxis)
{ {
///todo(erwincoumans) those up-axis transformations have been quickly coded without rigorous testing ///todo(erwincoumans) those up-axis transformations have been quickly coded without rigorous testing
TiXmlElement* unitMeter = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("unit"); XMLElement* unitMeter = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("unit");
if (unitMeter) if (unitMeter)
{ {
const char* meterText = unitMeter->Attribute("meter"); const char* meterText = unitMeter->Attribute("meter");
@@ -500,7 +501,7 @@ void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr,
unitMeterScaling = atof(meterText); unitMeterScaling = atof(meterText);
} }
TiXmlElement* upAxisElem = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("up_axis"); XMLElement* upAxisElem = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("up_axis");
if (upAxisElem) if (upAxisElem)
{ {
switch (clientUpAxis) switch (clientUpAxis)
@@ -573,8 +574,8 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
return; return;
} }
TiXmlDocument doc(filename); XMLDocument doc;
if (!doc.LoadFile()) if (!doc.LoadFile(filename))
return; return;
//We need units to be in meter, so apply a scaling using the asset/units meter //We need units to be in meter, so apply a scaling using the asset/units meter

48
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@@ -1,5 +1,5 @@
#include "BulletMJCFImporter.h" #include "BulletMJCFImporter.h"
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h" #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "Bullet3Common/b3FileUtils.h" #include "Bullet3Common/b3FileUtils.h"
#include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3HashMap.h"
#include "LinearMath/btQuickprof.h" #include "LinearMath/btQuickprof.h"
@@ -32,7 +32,7 @@
#include "BulletCollision/CollisionShapes/btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMesh.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 #if 0
//no C++11 snprintf etc //no C++11 snprintf etc
@@ -241,7 +241,7 @@ struct BulletMJCFImporterInternalData
return buf; return buf;
#else #else
char row[1024]; 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); std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
return str; return str;
#endif #endif
@@ -261,7 +261,7 @@ struct BulletMJCFImporterInternalData
return 0; return 0;
} }
void parseCompiler(TiXmlElement* root_xml, MJCFErrorLogger* logger) void parseCompiler(XMLElement* root_xml, MJCFErrorLogger* logger)
{ {
const char* meshDirStr = root_xml->Attribute("meshdir"); 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"/> // <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(); std::string n = child_xml->Value();
if (n=="mesh") 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; bool handled= false;
//rudimentary 'default' support, would need more work for better feature coverage //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(); std::string n = child_xml->Value();
@@ -413,9 +413,9 @@ struct BulletMJCFImporterInternalData
handled=true; handled=true;
return handled; 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; bool handled = false;
std::string n = rootxml->Value(); std::string n = rootxml->Value();
@@ -473,7 +473,7 @@ struct BulletMJCFImporterInternalData
return true; 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; bool jointHandled = false;
const char* jType = link_xml->Attribute("type"); const char* jType = link_xml->Attribute("type");
@@ -649,7 +649,7 @@ struct BulletMJCFImporterInternalData
*/ */
return false; 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); UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr==0) if (linkPtrPtr==0)
@@ -963,7 +963,7 @@ struct BulletMJCFImporterInternalData
return handledGeomType; return handledGeomType;
} }
btTransform parseTransform(TiXmlElement* link_xml, MJCFErrorLogger* logger) btTransform parseTransform(XMLElement* link_xml, MJCFErrorLogger* logger)
{ {
btTransform tr; btTransform tr;
tr.setIdentity(); tr.setIdentity();
@@ -1090,7 +1090,7 @@ struct BulletMJCFImporterInternalData
return orgChildLinkIndex; 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; MyMJCFDefaults curDefaults = defaults;
@@ -1142,7 +1142,7 @@ struct BulletMJCFImporterInternalData
jointTrans.setIdentity(); jointTrans.setIdentity();
bool skipFixedJoint = false; 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; bool handled = false;
std::string n = xml->Value(); 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) bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* logger)
{ {
TiXmlDocument xml_doc; XMLDocument xml_doc;
xml_doc.Parse(xmlText); xml_doc.Parse(xmlText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
logger->reportError(xml_doc.ErrorDesc()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
return false; return false;
} }
TiXmlElement *mujoco_xml = xml_doc.FirstChildElement("mujoco"); XMLElement *mujoco_xml = xml_doc.FirstChildElement("mujoco");
if (!mujoco_xml) if (!mujoco_xml)
{ {
logger->reportWarning("Cannot find <mujoco> root element"); 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>, //<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield> //<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); 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); 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); 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); 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); m_data->parseRootLevel(m_data->m_globalDefaults, link_xml,logger);
} }

210
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -1,8 +1,9 @@
#include "UrdfParser.h" #include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h" #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h" #include "urdfStringSplit.h"
#include "urdfLexicalCast.h" #include "urdfLexicalCast.h"
using namespace tinyxml2;
UrdfParser::UrdfParser() UrdfParser::UrdfParser()
:m_parseSDF(false), :m_parseSDF(false),
@@ -74,7 +75,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLo
return true; return true;
} }
bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, ErrorLogger* logger) bool UrdfParser::parseMaterial(UrdfMaterial& material, XMLElement *config, ErrorLogger* logger)
{ {
if (!config->Attribute("name")) if (!config->Attribute("name"))
@@ -86,7 +87,7 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
material.m_name = config->Attribute("name"); material.m_name = config->Attribute("name");
// texture // texture
TiXmlElement *t = config->FirstChildElement("texture"); XMLElement *t = config->FirstChildElement("texture");
if (t) if (t)
{ {
if (t->Attribute("filename")) if (t->Attribute("filename"))
@@ -102,7 +103,7 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
// color // color
{ {
TiXmlElement *c = config->FirstChildElement("color"); XMLElement *c = config->FirstChildElement("color");
if (c) if (c)
{ {
if (c->Attribute("rgba")) if (c->Attribute("rgba"))
@@ -118,7 +119,7 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
{ {
// specular (non-standard) // specular (non-standard)
TiXmlElement *s = config->FirstChildElement("specular"); XMLElement *s = config->FirstChildElement("specular");
if (s) if (s)
{ {
if (s->Attribute("rgb")) if (s->Attribute("rgb"))
@@ -133,7 +134,7 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
} }
bool UrdfParser::parseTransform(btTransform& tr, TiXmlElement* xml, ErrorLogger* logger, bool parseSDF ) bool UrdfParser::parseTransform(btTransform& tr, XMLElement* xml, ErrorLogger* logger, bool parseSDF )
{ {
tr.setIdentity(); tr.setIdentity();
@@ -207,13 +208,13 @@ bool UrdfParser::parseTransform(btTransform& tr, TiXmlElement* xml, ErrorLogger*
return true; return true;
} }
bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorLogger* logger) bool UrdfParser::parseInertia(UrdfInertia& inertia, XMLElement* config, ErrorLogger* logger)
{ {
inertia.m_linkLocalFrame.setIdentity(); inertia.m_linkLocalFrame.setIdentity();
inertia.m_mass = 0.f; inertia.m_mass = 0.f;
if(m_parseSDF) if(m_parseSDF)
{ {
TiXmlElement* pose = config->FirstChildElement("pose"); XMLElement* pose = config->FirstChildElement("pose");
if (pose) if (pose)
{ {
parseTransform(inertia.m_linkLocalFrame, pose,logger,m_parseSDF); parseTransform(inertia.m_linkLocalFrame, pose,logger,m_parseSDF);
@@ -223,7 +224,7 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
// Origin // Origin
TiXmlElement *o = config->FirstChildElement("origin"); XMLElement *o = config->FirstChildElement("origin");
if (o) if (o)
{ {
if (!parseTransform(inertia.m_linkLocalFrame,o,logger)) if (!parseTransform(inertia.m_linkLocalFrame,o,logger))
@@ -232,7 +233,7 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
} }
} }
TiXmlElement *mass_xml = config->FirstChildElement("mass"); XMLElement *mass_xml = config->FirstChildElement("mass");
if (!mass_xml) if (!mass_xml)
{ {
logger->reportError("Inertial element must have a mass element"); logger->reportError("Inertial element must have a mass element");
@@ -252,7 +253,7 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
inertia.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value")); inertia.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value"));
} }
TiXmlElement *inertia_xml = config->FirstChildElement("inertia"); XMLElement *inertia_xml = config->FirstChildElement("inertia");
if (!inertia_xml) if (!inertia_xml)
{ {
logger->reportError("Inertial element must have inertia element"); logger->reportError("Inertial element must have inertia element");
@@ -260,12 +261,12 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
} }
if (m_parseSDF) if (m_parseSDF)
{ {
TiXmlElement* ixx = inertia_xml->FirstChildElement("ixx"); XMLElement* ixx = inertia_xml->FirstChildElement("ixx");
TiXmlElement* ixy = inertia_xml->FirstChildElement("ixy"); XMLElement* ixy = inertia_xml->FirstChildElement("ixy");
TiXmlElement* ixz = inertia_xml->FirstChildElement("ixz"); XMLElement* ixz = inertia_xml->FirstChildElement("ixz");
TiXmlElement* iyy = inertia_xml->FirstChildElement("iyy"); XMLElement* iyy = inertia_xml->FirstChildElement("iyy");
TiXmlElement* iyz = inertia_xml->FirstChildElement("iyz"); XMLElement* iyz = inertia_xml->FirstChildElement("iyz");
TiXmlElement* izz = inertia_xml->FirstChildElement("izz"); XMLElement* izz = inertia_xml->FirstChildElement("izz");
if (ixx && ixy && ixz && iyy && iyz && izz) if (ixx && ixy && ixz && iyy && iyz && izz)
{ {
inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText()); inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
@@ -324,20 +325,21 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
} }
bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger* logger) bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* logger)
{ {
// btAssert(g); // btAssert(g);
if (g==0) if (g==0)
return false; return false;
TiXmlElement *shape = g->FirstChildElement(); XMLElement *shape = g->FirstChildElement();
if (!shape) if (!shape)
{ {
logger->reportError("Geometry tag contains no child element."); logger->reportError("Geometry tag contains no child element.");
return false; return false;
} }
const std::string type_name = shape->ValueTStr().c_str(); //const std::string type_name = shape->ValueTStr().c_str();
const std::string type_name = shape->Value();
if (type_name == "sphere") if (type_name == "sphere")
{ {
geom.m_type = URDF_GEOM_SPHERE; geom.m_type = URDF_GEOM_SPHERE;
@@ -355,7 +357,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_type = URDF_GEOM_BOX; geom.m_type = URDF_GEOM_BOX;
if (m_parseSDF) if (m_parseSDF)
{ {
TiXmlElement* size = shape->FirstChildElement("size"); XMLElement* size = shape->FirstChildElement("size");
if (0==size) if (0==size)
{ {
logger->reportError("box requires a size child element"); logger->reportError("box requires a size child element");
@@ -386,12 +388,12 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
if (m_parseSDF) if (m_parseSDF)
{ {
if (TiXmlElement* scale = shape->FirstChildElement("radius")) if (XMLElement* scale = shape->FirstChildElement("radius"))
{ {
parseVector3(geom.m_meshScale,scale->GetText(),logger); parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText()); geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
} }
if (TiXmlElement* scale = shape->FirstChildElement("length")) if (XMLElement* scale = shape->FirstChildElement("length"))
{ {
parseVector3(geom.m_meshScale,scale->GetText(),logger); parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText()); geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
@@ -413,12 +415,12 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_hasFromTo = false; geom.m_hasFromTo = false;
if (m_parseSDF) if (m_parseSDF)
{ {
if (TiXmlElement* scale = shape->FirstChildElement("radius")) if (XMLElement* scale = shape->FirstChildElement("radius"))
{ {
parseVector3(geom.m_meshScale,scale->GetText(),logger); parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText()); geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
} }
if (TiXmlElement* scale = shape->FirstChildElement("length")) if (XMLElement* scale = shape->FirstChildElement("length"))
{ {
parseVector3(geom.m_meshScale,scale->GetText(),logger); parseVector3(geom.m_meshScale,scale->GetText(),logger);
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText()); geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(scale->GetText());
@@ -442,11 +444,11 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
if (m_parseSDF) if (m_parseSDF)
{ {
if (TiXmlElement* scale = shape->FirstChildElement("scale")) if (XMLElement* scale = shape->FirstChildElement("scale"))
{ {
parseVector3(geom.m_meshScale,scale->GetText(),logger); parseVector3(geom.m_meshScale,scale->GetText(),logger);
} }
if (TiXmlElement* filename = shape->FirstChildElement("uri")) if (XMLElement* filename = shape->FirstChildElement("uri"))
{ {
fn = filename->GetText(); fn = filename->GetText();
} }
@@ -498,8 +500,8 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_type = URDF_GEOM_PLANE; geom.m_type = URDF_GEOM_PLANE;
if (this->m_parseSDF) if (this->m_parseSDF)
{ {
TiXmlElement *n = shape->FirstChildElement("normal"); XMLElement *n = shape->FirstChildElement("normal");
TiXmlElement *s = shape->FirstChildElement("size"); XMLElement *s = shape->FirstChildElement("size");
if ((0==n)||(0==s)) if ((0==n)||(0==s))
{ {
@@ -535,14 +537,14 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
} }
bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config, ErrorLogger* logger) bool UrdfParser::parseCollision(UrdfCollision& collision, XMLElement* config, ErrorLogger* logger)
{ {
collision.m_linkLocalFrame.setIdentity(); collision.m_linkLocalFrame.setIdentity();
if(m_parseSDF) if(m_parseSDF)
{ {
TiXmlElement* pose = config->FirstChildElement("pose"); XMLElement* pose = config->FirstChildElement("pose");
if (pose) if (pose)
{ {
parseTransform(collision.m_linkLocalFrame, pose,logger,m_parseSDF); parseTransform(collision.m_linkLocalFrame, pose,logger,m_parseSDF);
@@ -550,14 +552,14 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
} }
// Origin // Origin
TiXmlElement *o = config->FirstChildElement("origin"); XMLElement *o = config->FirstChildElement("origin");
if (o) if (o)
{ {
if (!parseTransform(collision.m_linkLocalFrame, o,logger)) if (!parseTransform(collision.m_linkLocalFrame, o,logger))
return false; return false;
} }
// Geometry // Geometry
TiXmlElement *geom = config->FirstChildElement("geometry"); XMLElement *geom = config->FirstChildElement("geometry");
if (!parseGeometry(collision.m_geometry,geom,logger)) if (!parseGeometry(collision.m_geometry,geom,logger))
{ {
return false; return false;
@@ -575,12 +577,12 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
return true; return true;
} }
bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement* config, ErrorLogger* logger) bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, XMLElement* config, ErrorLogger* logger)
{ {
visual.m_linkLocalFrame.setIdentity(); visual.m_linkLocalFrame.setIdentity();
if(m_parseSDF) if(m_parseSDF)
{ {
TiXmlElement* pose = config->FirstChildElement("pose"); XMLElement* pose = config->FirstChildElement("pose");
if (pose) if (pose)
{ {
parseTransform(visual.m_linkLocalFrame, pose,logger,m_parseSDF); parseTransform(visual.m_linkLocalFrame, pose,logger,m_parseSDF);
@@ -588,14 +590,14 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
} }
// Origin // Origin
TiXmlElement *o = config->FirstChildElement("origin"); XMLElement *o = config->FirstChildElement("origin");
if (o) if (o)
{ {
if (!parseTransform(visual.m_linkLocalFrame, o,logger)) if (!parseTransform(visual.m_linkLocalFrame, o,logger))
return false; return false;
} }
// Geometry // Geometry
TiXmlElement *geom = config->FirstChildElement("geometry"); XMLElement *geom = config->FirstChildElement("geometry");
if (!parseGeometry(visual.m_geometry,geom,logger)) if (!parseGeometry(visual.m_geometry,geom,logger))
{ {
return false; return false;
@@ -609,7 +611,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
visual.m_geometry.m_hasLocalMaterial = false; visual.m_geometry.m_hasLocalMaterial = false;
// Material // Material
TiXmlElement *mat = config->FirstChildElement("material"); XMLElement *mat = config->FirstChildElement("material");
//todo(erwincoumans) skip materials in SDF for now (due to complexity) //todo(erwincoumans) skip materials in SDF for now (due to complexity)
if (mat) if (mat)
{ {
@@ -630,7 +632,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
} }
model.m_materials.insert(matPtr->m_name.c_str(),matPtr); model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
{ {
TiXmlElement *diffuse = mat->FirstChildElement("diffuse"); XMLElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) { if (diffuse) {
std::string diffuseText = diffuse->GetText(); std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1); btVector4 rgba(1,0,0,1);
@@ -642,7 +644,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
} }
} }
{ {
TiXmlElement *specular = mat->FirstChildElement("specular"); XMLElement *specular = mat->FirstChildElement("specular");
if (specular) { if (specular) {
std::string specularText = specular->GetText(); std::string specularText = specular->GetText();
btVector3 rgba(1,1,1); btVector3 rgba(1,1,1);
@@ -665,9 +667,9 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
// try to parse material element in place // try to parse material element in place
TiXmlElement *t = mat->FirstChildElement("texture"); XMLElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color"); XMLElement *c = mat->FirstChildElement("color");
TiXmlElement *s = mat->FirstChildElement("specular"); XMLElement *s = mat->FirstChildElement("specular");
if (t||c||s) if (t||c||s)
{ {
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger)) if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
@@ -692,7 +694,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
return true; return true;
} }
bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *config, ErrorLogger* logger) bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, XMLElement *config, ErrorLogger* logger)
{ {
const char* linkName = config->Attribute("name"); const char* linkName = config->Attribute("name");
if (!linkName) if (!linkName)
@@ -705,7 +707,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
if (m_parseSDF) { if (m_parseSDF) {
TiXmlElement* pose = config->FirstChildElement("pose"); XMLElement* pose = config->FirstChildElement("pose");
if (0==pose) if (0==pose)
{ {
link.m_linkTransformInWorld.setIdentity(); link.m_linkTransformInWorld.setIdentity();
@@ -730,7 +732,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
</contact> </contact>
</audio_source> </audio_source>
#endif #endif
TiXmlElement* ci = config->FirstChildElement("audio_source"); XMLElement* ci = config->FirstChildElement("audio_source");
if (ci) if (ci)
{ {
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid; link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
@@ -741,41 +743,41 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
link.m_audioSource.m_uri = fn; link.m_audioSource.m_uri = fn;
} else } else
{ {
if (TiXmlElement* filename_xml = ci->FirstChildElement("uri")) if (XMLElement* filename_xml = ci->FirstChildElement("uri"))
{ {
link.m_audioSource.m_uri = filename_xml->GetText(); link.m_audioSource.m_uri = filename_xml->GetText();
} }
} }
if (TiXmlElement* pitch_xml = ci->FirstChildElement("pitch")) if (XMLElement* pitch_xml = ci->FirstChildElement("pitch"))
{ {
link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText()); link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
} }
if (TiXmlElement* gain_xml = ci->FirstChildElement("gain")) if (XMLElement* gain_xml = ci->FirstChildElement("gain"))
{ {
link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText()); link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
} }
if (TiXmlElement* attack_rate_xml = ci->FirstChildElement("attack_rate")) if (XMLElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
{ {
link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText()); link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
} }
if (TiXmlElement* decay_rate_xml = ci->FirstChildElement("decay_rate")) if (XMLElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
{ {
link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText()); link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
} }
if (TiXmlElement* sustain_level_xml = ci->FirstChildElement("sustain_level")) if (XMLElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
{ {
link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText()); link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
} }
if (TiXmlElement* release_rate_xml = ci->FirstChildElement("release_rate")) if (XMLElement* release_rate_xml = ci->FirstChildElement("release_rate"))
{ {
link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText()); link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
} }
if (TiXmlElement* loop_xml = ci->FirstChildElement("loop")) if (XMLElement* loop_xml = ci->FirstChildElement("loop"))
{ {
std::string looptxt = loop_xml->GetText(); std::string looptxt = loop_xml->GetText();
if (looptxt == "true") if (looptxt == "true")
@@ -783,7 +785,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping; link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
} }
} }
if (TiXmlElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold")) if (XMLElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
{ {
link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText()); link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
} }
@@ -794,11 +796,11 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
//optional 'contact' parameters //optional 'contact' parameters
TiXmlElement* ci = config->FirstChildElement("contact"); XMLElement* ci = config->FirstChildElement("contact");
if (ci) if (ci)
{ {
TiXmlElement *damping_xml = ci->FirstChildElement("inertia_scaling"); XMLElement *damping_xml = ci->FirstChildElement("inertia_scaling");
if (damping_xml) if (damping_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -819,7 +821,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
} }
{ {
TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction"); XMLElement *friction_xml = ci->FirstChildElement("lateral_friction");
if (friction_xml) if (friction_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -839,7 +841,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction"); XMLElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml) if (rolling_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -862,7 +864,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
TiXmlElement *restitution_xml = ci->FirstChildElement("restitution"); XMLElement *restitution_xml = ci->FirstChildElement("restitution");
if (restitution_xml) if (restitution_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -886,7 +888,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
TiXmlElement *spinning_xml = ci->FirstChildElement("spinning_friction"); XMLElement *spinning_xml = ci->FirstChildElement("spinning_friction");
if (spinning_xml) if (spinning_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -908,7 +910,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
} }
{ {
TiXmlElement *friction_anchor = ci->FirstChildElement("friction_anchor"); XMLElement *friction_anchor = ci->FirstChildElement("friction_anchor");
if (friction_anchor) if (friction_anchor)
{ {
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_FRICTION_ANCHOR; link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_FRICTION_ANCHOR;
@@ -916,7 +918,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
TiXmlElement *stiffness_xml = ci->FirstChildElement("stiffness"); XMLElement *stiffness_xml = ci->FirstChildElement("stiffness");
if (stiffness_xml) if (stiffness_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -939,7 +941,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
{ {
TiXmlElement *damping_xml = ci->FirstChildElement("damping"); XMLElement *damping_xml = ci->FirstChildElement("damping");
if (damping_xml) if (damping_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -964,7 +966,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
// Inertial (optional) // Inertial (optional)
TiXmlElement *i = config->FirstChildElement("inertial"); XMLElement *i = config->FirstChildElement("inertial");
if (i) if (i)
{ {
if (!parseInertia(link.m_inertia, i,logger)) if (!parseInertia(link.m_inertia, i,logger))
@@ -997,7 +999,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
} }
// Multiple Visuals (optional) // Multiple Visuals (optional)
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual")) for (XMLElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
{ {
UrdfVisual visual; UrdfVisual visual;
visual.m_sourceFileLocation = sourceFileLocation(vis_xml); visual.m_sourceFileLocation = sourceFileLocation(vis_xml);
@@ -1017,7 +1019,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
// Multiple Collisions (optional) // Multiple Collisions (optional)
for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision")) for (XMLElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
{ {
UrdfCollision col; UrdfCollision col;
col.m_sourceFileLocation = sourceFileLocation(col_xml); col.m_sourceFileLocation = sourceFileLocation(col_xml);
@@ -1036,7 +1038,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
return true; return true;
} }
bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger) bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
{ {
joint.m_lowerLimit = 0.f; joint.m_lowerLimit = 0.f;
joint.m_upperLimit = -1.f; joint.m_upperLimit = -1.f;
@@ -1047,22 +1049,22 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorL
if (m_parseSDF) if (m_parseSDF)
{ {
TiXmlElement *lower_xml = config->FirstChildElement("lower"); XMLElement *lower_xml = config->FirstChildElement("lower");
if (lower_xml) { if (lower_xml) {
joint.m_lowerLimit = urdfLexicalCast<double>(lower_xml->GetText()); joint.m_lowerLimit = urdfLexicalCast<double>(lower_xml->GetText());
} }
TiXmlElement *upper_xml = config->FirstChildElement("upper"); XMLElement *upper_xml = config->FirstChildElement("upper");
if (upper_xml) { if (upper_xml) {
joint.m_upperLimit = urdfLexicalCast<double>(upper_xml->GetText()); joint.m_upperLimit = urdfLexicalCast<double>(upper_xml->GetText());
} }
TiXmlElement *effort_xml = config->FirstChildElement("effort"); XMLElement *effort_xml = config->FirstChildElement("effort");
if (effort_xml) { if (effort_xml) {
joint.m_effortLimit = urdfLexicalCast<double>(effort_xml->GetText()); joint.m_effortLimit = urdfLexicalCast<double>(effort_xml->GetText());
} }
TiXmlElement *velocity_xml = config->FirstChildElement("velocity"); XMLElement *velocity_xml = config->FirstChildElement("velocity");
if (velocity_xml) { if (velocity_xml) {
joint.m_velocityLimit = urdfLexicalCast<double>(velocity_xml->GetText()); joint.m_velocityLimit = urdfLexicalCast<double>(velocity_xml->GetText());
} }
@@ -1105,18 +1107,18 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorL
return true; return true;
} }
bool UrdfParser::parseJointDynamics(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger) bool UrdfParser::parseJointDynamics(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
{ {
joint.m_jointDamping = 0; joint.m_jointDamping = 0;
joint.m_jointFriction = 0; joint.m_jointFriction = 0;
if (m_parseSDF) { if (m_parseSDF) {
TiXmlElement *damping_xml = config->FirstChildElement("damping"); XMLElement *damping_xml = config->FirstChildElement("damping");
if (damping_xml) { if (damping_xml) {
joint.m_jointDamping = urdfLexicalCast<double>(damping_xml->GetText()); joint.m_jointDamping = urdfLexicalCast<double>(damping_xml->GetText());
} }
TiXmlElement *friction_xml = config->FirstChildElement("friction"); XMLElement *friction_xml = config->FirstChildElement("friction");
if (friction_xml) { if (friction_xml) {
joint.m_jointFriction = urdfLexicalCast<double>(friction_xml->GetText()); joint.m_jointFriction = urdfLexicalCast<double>(friction_xml->GetText());
} }
@@ -1153,7 +1155,7 @@ bool UrdfParser::parseJointDynamics(UrdfJoint& joint, TiXmlElement* config, Erro
return true; return true;
} }
bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger* logger) bool UrdfParser::parseJoint(UrdfJoint& joint, XMLElement *config, ErrorLogger* logger)
{ {
@@ -1168,7 +1170,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
joint.m_parentLinkToJointTransform.setIdentity(); joint.m_parentLinkToJointTransform.setIdentity();
// Get transform from Parent Link to Joint Frame // Get transform from Parent Link to Joint Frame
TiXmlElement *origin_xml = config->FirstChildElement("origin"); XMLElement *origin_xml = config->FirstChildElement("origin");
if (origin_xml) if (origin_xml)
{ {
if (!parseTransform(joint.m_parentLinkToJointTransform, origin_xml,logger)) if (!parseTransform(joint.m_parentLinkToJointTransform, origin_xml,logger))
@@ -1180,7 +1182,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
} }
// Get Parent Link // Get Parent Link
TiXmlElement *parent_xml = config->FirstChildElement("parent"); XMLElement *parent_xml = config->FirstChildElement("parent");
if (parent_xml) if (parent_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -1204,7 +1206,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
} }
// Get Child Link // Get Child Link
TiXmlElement *child_xml = config->FirstChildElement("child"); XMLElement *child_xml = config->FirstChildElement("child");
if (child_xml) if (child_xml)
{ {
if (m_parseSDF) if (m_parseSDF)
@@ -1263,14 +1265,14 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint) if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint)
{ {
// axis // axis
TiXmlElement *axis_xml = config->FirstChildElement("axis"); XMLElement *axis_xml = config->FirstChildElement("axis");
if (!axis_xml){ if (!axis_xml){
logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis"); logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis");
logger->reportWarning(joint.m_name.c_str()); logger->reportWarning(joint.m_name.c_str());
joint.m_localJointAxis.setValue(1,0,0); joint.m_localJointAxis.setValue(1,0,0);
} }
else{ else{
TiXmlElement *xyz_xml = axis_xml->FirstChildElement("xyz"); XMLElement *xyz_xml = axis_xml->FirstChildElement("xyz");
if (xyz_xml) { if (xyz_xml) {
if (!parseVector3(joint.m_localJointAxis,std::string(xyz_xml->GetText()),logger)) if (!parseVector3(joint.m_localJointAxis,std::string(xyz_xml->GetText()),logger))
{ {
@@ -1282,7 +1284,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
} }
} }
TiXmlElement *limit_xml = axis_xml->FirstChildElement("limit"); XMLElement *limit_xml = axis_xml->FirstChildElement("limit");
if (limit_xml) if (limit_xml)
{ {
if (joint.m_type != URDFContinuousJoint) if (joint.m_type != URDFContinuousJoint)
@@ -1308,7 +1310,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
return false; return false;
} }
TiXmlElement *prop_xml = axis_xml->FirstChildElement("dynamics"); XMLElement *prop_xml = axis_xml->FirstChildElement("dynamics");
if (prop_xml) if (prop_xml)
{ {
if (!parseJointDynamics(joint, prop_xml,logger)) if (!parseJointDynamics(joint, prop_xml,logger))
@@ -1327,7 +1329,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint) if (joint.m_type != URDFFloatingJoint && joint.m_type != URDFFixedJoint)
{ {
// axis // axis
TiXmlElement *axis_xml = config->FirstChildElement("axis"); XMLElement *axis_xml = config->FirstChildElement("axis");
if (!axis_xml){ if (!axis_xml){
logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis"); logger->reportWarning("urdfdom: no axis elemement for Joint, defaulting to (1,0,0) axis");
logger->reportWarning(joint.m_name.c_str()); logger->reportWarning(joint.m_name.c_str());
@@ -1349,7 +1351,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
} }
// Get limit // Get limit
TiXmlElement *limit_xml = config->FirstChildElement("limit"); XMLElement *limit_xml = config->FirstChildElement("limit");
if (limit_xml) if (limit_xml)
{ {
if (!parseJointLimits(joint, limit_xml,logger)) if (!parseJointLimits(joint, limit_xml,logger))
@@ -1376,7 +1378,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger*
joint.m_jointFriction = 0; joint.m_jointFriction = 0;
// Get Dynamics // Get Dynamics
TiXmlElement *prop_xml = config->FirstChildElement("dynamics"); XMLElement *prop_xml = config->FirstChildElement("dynamics");
if (prop_xml) if (prop_xml)
{ {
@@ -1491,16 +1493,16 @@ bool UrdfParser::initTreeAndRoot(UrdfModel& model, ErrorLogger* logger)
bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase) bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase)
{ {
TiXmlDocument xml_doc; XMLDocument xml_doc;
xml_doc.Parse(urdfText); xml_doc.Parse(urdfText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
logger->reportError(xml_doc.ErrorDesc()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
return false; return false;
} }
TiXmlElement *robot_xml = xml_doc.FirstChildElement("robot"); XMLElement *robot_xml = xml_doc.FirstChildElement("robot");
if (!robot_xml) if (!robot_xml)
{ {
logger->reportError("expected a robot element"); logger->reportError("expected a robot element");
@@ -1519,7 +1521,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
// Get all Material elements // Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material")) for (XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{ {
UrdfMaterial* material = new UrdfMaterial; UrdfMaterial* material = new UrdfMaterial;
@@ -1543,7 +1545,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
// logger->printMessage(msg); // logger->printMessage(msg);
for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{ {
UrdfLink* link = new UrdfLink; UrdfLink* link = new UrdfLink;
@@ -1592,7 +1594,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
} }
// Get all Joint elements // Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) for (XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{ {
UrdfJoint* joint = new UrdfJoint; UrdfJoint* joint = new UrdfJoint;
@@ -1651,16 +1653,16 @@ void UrdfParser::activateModel(int modelIndex)
bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger) bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
{ {
TiXmlDocument xml_doc; XMLDocument xml_doc;
xml_doc.Parse(sdfText); xml_doc.Parse(sdfText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
logger->reportError(xml_doc.ErrorDesc()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
return false; return false;
} }
TiXmlElement *sdf_xml = xml_doc.FirstChildElement("sdf"); XMLElement *sdf_xml = xml_doc.FirstChildElement("sdf");
if (!sdf_xml) if (!sdf_xml)
{ {
logger->reportError("expected an sdf element"); logger->reportError("expected an sdf element");
@@ -1668,9 +1670,9 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
} }
//apparently, SDF doesn't require a "world" element, optional? URDF does. //apparently, SDF doesn't require a "world" element, optional? URDF does.
TiXmlElement *world_xml = sdf_xml->FirstChildElement("world"); XMLElement *world_xml = sdf_xml->FirstChildElement("world");
TiXmlElement* robot_xml = 0; XMLElement* robot_xml = 0;
if (!world_xml) if (!world_xml)
{ {
@@ -1687,7 +1689,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
UrdfModel* localModel = new UrdfModel; UrdfModel* localModel = new UrdfModel;
m_tmpModels.push_back(localModel); m_tmpModels.push_back(localModel);
TiXmlElement* stat = robot_xml->FirstChildElement("static"); XMLElement* stat = robot_xml->FirstChildElement("static");
if (0!=stat) if (0!=stat)
{ {
int val = int(atof(stat->GetText())); int val = int(atof(stat->GetText()));
@@ -1707,7 +1709,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
} }
localModel->m_name = name; localModel->m_name = name;
TiXmlElement* pose_xml = robot_xml->FirstChildElement("pose"); XMLElement* pose_xml = robot_xml->FirstChildElement("pose");
if (0==pose_xml) if (0==pose_xml)
{ {
localModel->m_rootTransformInWorld.setIdentity(); localModel->m_rootTransformInWorld.setIdentity();
@@ -1718,7 +1720,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
} }
// Get all Material elements // Get all Material elements
for (TiXmlElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material")) for (XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
{ {
UrdfMaterial* material = new UrdfMaterial; UrdfMaterial* material = new UrdfMaterial;
@@ -1742,7 +1744,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
// logger->printMessage(msg); // logger->printMessage(msg);
for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
{ {
UrdfLink* link = new UrdfLink; UrdfLink* link = new UrdfLink;
@@ -1791,7 +1793,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
} }
// Get all Joint elements // Get all Joint elements
for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) for (XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
{ {
UrdfJoint* joint = new UrdfJoint; UrdfJoint* joint = new UrdfJoint;
@@ -1828,7 +1830,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
return true; return true;
} }
std::string UrdfParser::sourceFileLocation(TiXmlElement* e) std::string UrdfParser::sourceFileLocation(XMLElement* e)
{ {
#if 0 #if 0
//no C++11 etc, no snprintf //no C++11 etc, no snprintf
@@ -1838,7 +1840,7 @@ std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
return buf; return buf;
#else #else
char row[1024]; char row[1024];
sprintf(row,"%d",e->Row()); sprintf(row,"%d",e->GetLineNum());
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row); std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
return str; return str;
#endif #endif

27
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -240,6 +240,11 @@ struct UrdfModel
} }
}; };
namespace tinyxml2
{
class XMLElement;
};
class UrdfParser class UrdfParser
{ {
protected: protected:
@@ -252,17 +257,17 @@ protected:
int m_activeSdfModel; int m_activeSdfModel;
btScalar m_urdfScaling; btScalar m_urdfScaling;
bool parseTransform(btTransform& tr, class TiXmlElement* xml, ErrorLogger* logger, bool parseSDF = false); bool parseTransform(btTransform& tr, tinyxml2::XMLElement* xml, ErrorLogger* logger, bool parseSDF = false);
bool parseInertia(UrdfInertia& inertia, class TiXmlElement* config, ErrorLogger* logger); bool parseInertia(UrdfInertia& inertia, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseGeometry(UrdfGeometry& geom, class TiXmlElement* g, ErrorLogger* logger); bool parseGeometry(UrdfGeometry& geom, tinyxml2::XMLElement* g, ErrorLogger* logger);
bool parseVisual(UrdfModel& model, UrdfVisual& visual, class TiXmlElement* config, ErrorLogger* logger); bool parseVisual(UrdfModel& model, UrdfVisual& visual, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseCollision(UrdfCollision& collision, class TiXmlElement* config, ErrorLogger* logger); bool parseCollision(UrdfCollision& collision, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool initTreeAndRoot(UrdfModel& model, ErrorLogger* logger); bool initTreeAndRoot(UrdfModel& model, ErrorLogger* logger);
bool parseMaterial(UrdfMaterial& material, class TiXmlElement *config, ErrorLogger* logger); bool parseMaterial(UrdfMaterial& material, tinyxml2::XMLElement *config, ErrorLogger* logger);
bool parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger); bool parseJointLimits(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJointDynamics(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger); bool parseJointDynamics(UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
bool parseJoint(UrdfJoint& link, TiXmlElement *config, ErrorLogger* logger); bool parseJoint(UrdfJoint& link, tinyxml2::XMLElement *config, ErrorLogger* logger);
bool parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *config, ErrorLogger* logger); bool parseLink(UrdfModel& model, UrdfLink& link, tinyxml2::XMLElement *config, ErrorLogger* logger);
public: public:
@@ -333,7 +338,7 @@ public:
return m_urdf2Model; return m_urdf2Model;
} }
std::string sourceFileLocation(TiXmlElement* e); std::string sourceFileLocation(tinyxml2::XMLElement* e);
void setSourceFile(const std::string& sourceFile) void setSourceFile(const std::string& sourceFile)
{ {

5
examples/RobotSimulator/premake4.lua
View File

@@ -43,10 +43,7 @@ myfiles =
"../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",

5
examples/SharedMemory/CMakeLists.txt
View File

@@ -77,10 +77,7 @@ SharedMemoryCommands.h
../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp ../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../Importers/ImportColladaDemo/ColladaGraphicsInstance.h ../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp ../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp ../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp ../ThirdPartyLibs/stb_image/stb_image.cpp
../MultiThreading/b3ThreadSupportInterface.cpp ../MultiThreading/b3ThreadSupportInterface.cpp

8
examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua
View File

@@ -39,12 +39,8 @@ project ("pybullet_tinyRendererPlugin")
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../../ThirdPartyLibs/stb_image/stb_image.cpp", "../../../ThirdPartyLibs/stb_image/stb_image.cpp",
"../../../ThirdPartyLibs/stb_image/stb_image.h", "../../../ThirdPartyLibs/stb_image/stb_image.h",
"../../../ThirdPartyLibs/tinyxml/tinystr.cpp", "../../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../../ThirdPartyLibs/tinyxml/tinystr.h", "../../../ThirdPartyLibs/tinyxml2/tinyxml2.h",
"../../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxml.h",
"../../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../../OpenGLWindow/SimpleCamera.cpp", "../../../OpenGLWindow/SimpleCamera.cpp",
"../../../OpenGLWindow/SimpleCamera.h", "../../../OpenGLWindow/SimpleCamera.h",
"../../../Utils/b3Clock.cpp", "../../../Utils/b3Clock.cpp",

5
examples/SharedMemory/premake4.lua
View File

@@ -91,10 +91,7 @@ myfiles =
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h", "../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp", "../ThirdPartyLibs/stb_image/stb_image.cpp",

5
examples/SharedMemory/tcp/premake4.lua
View File

@@ -132,10 +132,7 @@ myfiles =
"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h", "../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../ThirdPartyLibs/tinyxml/tinystr.cpp", "../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", "../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../ThirdPartyLibs/stb_image/stb_image.cpp", "../../ThirdPartyLibs/stb_image/stb_image.cpp",
} }

5
examples/SharedMemory/udp/premake4.lua
View File

@@ -126,10 +126,7 @@ myfiles =
"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h", "../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../ThirdPartyLibs/tinyxml/tinystr.cpp", "../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", "../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../ThirdPartyLibs/stb_image/stb_image.cpp", "../../ThirdPartyLibs/stb_image/stb_image.cpp",
} }

111
examples/ThirdPartyLibs/tinyxml/tinystr.cpp
View File

@@ -1,111 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
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.
*/
#ifndef TIXML_USE_STL
#include "tinystr.h"
// Error value for find primitive
const TiXmlString::size_type TiXmlString::npos = static_cast< TiXmlString::size_type >(-1);
// Null rep.
TiXmlString::Rep TiXmlString::nullrep_ = { 0, 0, { '\0' } };
void TiXmlString::reserve (size_type cap)
{
if (cap > capacity())
{
TiXmlString tmp;
tmp.init(length(), cap);
memcpy(tmp.start(), data(), length());
swap(tmp);
}
}
TiXmlString& TiXmlString::assign(const char* str, size_type len)
{
size_type cap = capacity();
if (len > cap || cap > 3*(len + 8))
{
TiXmlString tmp;
tmp.init(len);
memcpy(tmp.start(), str, len);
swap(tmp);
}
else
{
memmove(start(), str, len);
set_size(len);
}
return *this;
}
TiXmlString& TiXmlString::append(const char* str, size_type len)
{
size_type newsize = length() + len;
if (newsize > capacity())
{
reserve (newsize + capacity());
}
memmove(finish(), str, len);
set_size(newsize);
return *this;
}
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b)
{
TiXmlString tmp;
tmp.reserve(a.length() + b.length());
tmp += a;
tmp += b;
return tmp;
}
TiXmlString operator + (const TiXmlString & a, const char* b)
{
TiXmlString tmp;
TiXmlString::size_type b_len = static_cast<TiXmlString::size_type>( strlen(b) );
tmp.reserve(a.length() + b_len);
tmp += a;
tmp.append(b, b_len);
return tmp;
}
TiXmlString operator + (const char* a, const TiXmlString & b)
{
TiXmlString tmp;
TiXmlString::size_type a_len = static_cast<TiXmlString::size_type>( strlen(a) );
tmp.reserve(a_len + b.length());
tmp.append(a, a_len);
tmp += b;
return tmp;
}
#endif // TIXML_USE_STL

305
examples/ThirdPartyLibs/tinyxml/tinystr.h
View File

@@ -1,305 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
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.
*/
#ifndef TIXML_USE_STL
#ifndef TIXML_STRING_INCLUDED
#define TIXML_STRING_INCLUDED
#include <assert.h>
#include <string.h>
/* The support for explicit isn't that universal, and it isn't really
required - it is used to check that the TiXmlString class isn't incorrectly
used. Be nice to old compilers and macro it here:
*/
#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
// Microsoft visual studio, version 6 and higher.
#define TIXML_EXPLICIT explicit
#elif defined(__GNUC__) && (__GNUC__ >= 3 )
// GCC version 3 and higher.s
#define TIXML_EXPLICIT explicit
#else
#define TIXML_EXPLICIT
#endif
/*
TiXmlString is an emulation of a subset of the std::string template.
Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
Only the member functions relevant to the TinyXML project have been implemented.
The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
a string and there's no more room, we allocate a buffer twice as big as we need.
*/
class TiXmlString
{
public :
// The size type used
typedef size_t size_type;
// Error value for find primitive
static const size_type npos; // = -1;
// TiXmlString empty constructor
TiXmlString () : rep_(&nullrep_)
{
}
// TiXmlString copy constructor
TiXmlString ( const TiXmlString & copy) : rep_(0)
{
init(copy.length());
memcpy(start(), copy.data(), length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
{
init( static_cast<size_type>( strlen(copy) ));
memcpy(start(), copy, length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
{
init(len);
memcpy(start(), str, len);
}
// TiXmlString destructor
~TiXmlString ()
{
quit();
}
TiXmlString& operator = (const char * copy)
{
return assign( copy, (size_type)strlen(copy));
}
TiXmlString& operator = (const TiXmlString & copy)
{
return assign(copy.start(), copy.length());
}
// += operator. Maps to append
TiXmlString& operator += (const char * suffix)
{
return append(suffix, static_cast<size_type>( strlen(suffix) ));
}
// += operator. Maps to append
TiXmlString& operator += (char single)
{
return append(&single, 1);
}
// += operator. Maps to append
TiXmlString& operator += (const TiXmlString & suffix)
{
return append(suffix.data(), suffix.length());
}
// Convert a TiXmlString into a null-terminated char *
const char * c_str () const { return rep_->str; }
// Convert a TiXmlString into a char * (need not be null terminated).
const char * data () const { return rep_->str; }
// Return the length of a TiXmlString
size_type length () const { return rep_->size; }
// Alias for length()
size_type size () const { return rep_->size; }
// Checks if a TiXmlString is empty
bool empty () const { return rep_->size == 0; }
// Return capacity of string
size_type capacity () const { return rep_->capacity; }
// single char extraction
const char& at (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// [] operator
char& operator [] (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// find a char in a string. Return TiXmlString::npos if not found
size_type find (char lookup) const
{
return find(lookup, 0);
}
// find a char in a string from an offset. Return TiXmlString::npos if not found
size_type find (char tofind, size_type offset) const
{
if (offset >= length()) return npos;
for (const char* p = c_str() + offset; *p != '\0'; ++p)
{
if (*p == tofind) return static_cast< size_type >( p - c_str() );
}
return npos;
}
void clear ()
{
//Lee:
//The original was just too strange, though correct:
// TiXmlString().swap(*this);
//Instead use the quit & re-init:
quit();
init(0,0);
}
/* Function to reserve a big amount of data when we know we'll need it. Be aware that this
function DOES NOT clear the content of the TiXmlString if any exists.
*/
void reserve (size_type cap);
TiXmlString& assign (const char* str, size_type len);
TiXmlString& append (const char* str, size_type len);
void swap (TiXmlString& other)
{
Rep* r = rep_;
rep_ = other.rep_;
other.rep_ = r;
}
private:
void init(size_type sz) { init(sz, sz); }
void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
char* start() const { return rep_->str; }
char* finish() const { return rep_->str + rep_->size; }
struct Rep
{
size_type size, capacity;
char str[1];
};
void init(size_type sz, size_type cap)
{
if (cap)
{
// Lee: the original form:
// rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
// doesn't work in some cases of new being overloaded. Switching
// to the normal allocation, although use an 'int' for systems
// that are overly picky about structure alignment.
const size_type bytesNeeded = sizeof(Rep) + cap;
const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int );
rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
rep_->str[ rep_->size = sz ] = '\0';
rep_->capacity = cap;
}
else
{
rep_ = &nullrep_;
}
}
void quit()
{
if (rep_ != &nullrep_)
{
// The rep_ is really an array of ints. (see the allocator, above).
// Cast it back before delete, so the compiler won't incorrectly call destructors.
delete [] ( reinterpret_cast<int*>( rep_ ) );
}
}
Rep * rep_;
static Rep nullrep_;
} ;
inline bool operator == (const TiXmlString & a, const TiXmlString & b)
{
return ( a.length() == b.length() ) // optimization on some platforms
&& ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare
}
inline bool operator < (const TiXmlString & a, const TiXmlString & b)
{
return strcmp(a.c_str(), b.c_str()) < 0;
}
inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; }
inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
TiXmlString operator + (const TiXmlString & a, const char* b);
TiXmlString operator + (const char* a, const TiXmlString & b);
/*
TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
Only the operators that we need for TinyXML have been developped.
*/
class TiXmlOutStream : public TiXmlString
{
public :
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const TiXmlString & in)
{
*this += in;
return *this;
}
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const char * in)
{
*this += in;
return *this;
}
} ;
#endif // TIXML_STRING_INCLUDED
#endif // TIXML_USE_STL

1886
examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
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1805
examples/ThirdPartyLibs/tinyxml/tinyxml.h
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52
examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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@@ -1,52 +0,0 @@
/*
www.sourceforge.net/projects/tinyxml
Original code (2.0 and earlier )copyright (c) 2000-2006 Lee Thomason (www.grinninglizard.com)
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 "tinyxml.h"
// The goal of the seperate error file is to make the first
// step towards localization. tinyxml (currently) only supports
// english error messages, but the could now be translated.
//
// It also cleans up the code a bit.
//
const char* TiXmlBase::errorString[ TiXmlBase::TIXML_ERROR_STRING_COUNT ] =
{
"No error",
"Error",
"Failed to open file",
"Error parsing Element.",
"Failed to read Element name",
"Error reading Element value.",
"Error reading Attributes.",
"Error: empty tag.",
"Error reading end tag.",
"Error parsing Unknown.",
"Error parsing Comment.",
"Error parsing Declaration.",
"Error document empty.",
"Error null (0) or unexpected EOF found in input stream.",
"Error parsing CDATA.",
"Error when TiXmlDocument added to document, because TiXmlDocument can only be at the root.",
};

1638
examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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2826
examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp Normal file
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2314
examples/ThirdPartyLibs/tinyxml2/tinyxml2.h Normal file
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5
examples/TwoJoint/CMakeLists.txt
View File

@@ -54,10 +54,7 @@ SET(RobotSimulator_SRCS
../../examples/Utils/b3ResourcePath.h ../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp ../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h ../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp

5
examples/pybullet/CMakeLists.txt
View File

@@ -64,10 +64,7 @@ SET(pybullet_SRCS
../../examples/Utils/RobotLoggingUtil.cpp ../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h ../../examples/Utils/RobotLoggingUtil.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp

5
examples/pybullet/premake4.lua
View File

@@ -136,10 +136,7 @@ if not _OPTIONS["no-enet"] then
"../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",

5
setup.py
View File

@@ -77,10 +77,7 @@ sources = ["examples/pybullet/pybullet.c"]\
+["examples/Utils/ChromeTraceUtil.cpp"]\ +["examples/Utils/ChromeTraceUtil.cpp"]\
+["examples/Utils/b3Clock.cpp"]\ +["examples/Utils/b3Clock.cpp"]\
+["examples/Utils/b3Quickprof.cpp"]\ +["examples/Utils/b3Quickprof.cpp"]\
+["examples/ThirdPartyLibs/tinyxml/tinystr.cpp"]\ +["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
+["examples/ThirdPartyLibs/tinyxml/tinyxml.cpp"]\
+["examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp"]\
+["examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp"]\
+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\ +["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\ +["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
+["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\ +["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\

7
test/InverseDynamics/CMakeLists.txt
View File

@@ -84,11 +84,8 @@ ENDIF()
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h ../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
) )
ADD_TEST(Test_BulletInverseForwardDynamics_PASS Test_BulletInverseForwardDynamics) ADD_TEST(Test_BulletInverseForwardDynamics_PASS Test_BulletInverseForwardDynamics)

5
test/InverseDynamics/premake4.lua
View File

@@ -125,10 +125,7 @@
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h", "../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h", "../../examples/ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
} }

5
test/SharedMemory/CMakeLists.txt
View File

@@ -75,10 +75,7 @@ ENDIF()
../../examples/TinyRenderer/tgaimage.cpp ../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp ../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp ../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

15
test/SharedMemory/premake4.lua
View File

@@ -211,10 +211,7 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/Utils/b3Clock.h", "../../examples/Utils/b3Clock.h",
"../../examples/Utils/ChromeTraceUtil.cpp", "../../examples/Utils/ChromeTraceUtil.cpp",
"../../examples/Utils/ChromeTraceUtil.h", "../../examples/Utils/ChromeTraceUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
@@ -298,10 +295,7 @@ end
"../../examples/Utils/b3Clock.cpp", "../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/ChromeTraceUtil.cpp", "../../examples/Utils/ChromeTraceUtil.cpp",
"../../examples/Utils/ChromeTraceUtil.h", "../../examples/Utils/ChromeTraceUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
@@ -405,10 +399,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",