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fix relative path of visual/collision mesh, it might be different from the urdf relative path

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(.obj loader terminates if it cannot find the material file)
This commit is contained in:
Erwin Coumans
2015-05-27 15:43:33 -07:00
parent c9a630e7c6
commit becd7cacd8
1 changed files with 27 additions and 8 deletions
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35
examples/Importers/ImportURDFDemo/MyURDFImporter.cpp
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@@ -279,7 +279,7 @@ bool MyURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint,
void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut) void convertURDFToVisualShape(const Visual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{ {
@@ -349,7 +349,17 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
printf("mesh->filename=%s\n", filename); printf("mesh->filename=%s\n", filename);
char fullPath[1024]; char fullPath[1024];
int fileType = 0; int fileType = 0;
sprintf(fullPath, "%s%s", pathPrefix, filename);
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath); b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae")) if (strstr(fullPath, ".dae"))
{ {
@@ -365,7 +375,7 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
} }
sprintf(fullPath, "%s%s", pathPrefix, filename); sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb"); FILE* f = fopen(fullPath, "rb");
if (f) if (f)
{ {
@@ -377,7 +387,7 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
{ {
case FILE_OBJ: case FILE_OBJ:
{ {
glmesh = LoadMeshFromObj(fullPath,pathPrefix); glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break; break;
} }
@@ -583,7 +593,7 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const char* pathPrefix) btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const char* urdfPathPrefix)
{ {
btCollisionShape* shape = 0; btCollisionShape* shape = 0;
@@ -656,8 +666,17 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
printf("mesh->filename=%s\n",filename); printf("mesh->filename=%s\n",filename);
char fullPath[1024]; char fullPath[1024];
int fileType = 0; int fileType = 0;
sprintf(fullPath,"%s%s",pathPrefix,filename); sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
b3FileUtils::toLower(fullPath); b3FileUtils::toLower(fullPath);
char tmpPathPrefix[1024];
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char collisionPathPrefix[1024];
sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
if (strstr(fullPath,".dae")) if (strstr(fullPath,".dae"))
{ {
fileType = FILE_COLLADA; fileType = FILE_COLLADA;
@@ -671,7 +690,7 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
fileType = FILE_OBJ; fileType = FILE_OBJ;
} }
sprintf(fullPath,"%s%s",pathPrefix,filename); sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
FILE* f = fopen(fullPath,"rb"); FILE* f = fopen(fullPath,"rb");
if (f) if (f)
{ {
@@ -683,7 +702,7 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
{ {
case FILE_OBJ: case FILE_OBJ:
{ {
glmesh = LoadMeshFromObj(fullPath,pathPrefix); glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
break; break;
} }
case FILE_STL: case FILE_STL: