From 5f954e24960c077acfc005a7c45eb94fe611e8eb Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 9 Oct 2018 16:25:32 -0700 Subject: [PATCH 1/2] backward compatibility fix --- examples/Importers/ImportURDFDemo/BulletUrdfImporter.h | 2 +- examples/TinyRenderer/TinyRenderer.cpp | 8 ++++++++ examples/TinyRenderer/TinyRenderer.h | 2 +- 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h index 34a28f15d..8acf2cefd 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h @@ -19,7 +19,7 @@ class BulletURDFImporter : public URDFImporterInterface struct BulletURDFInternalData* m_data; public: - BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO,double globalScaling, int flags); + BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO=0,double globalScaling=1, int flags=0); virtual ~BulletURDFImporter(); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 0e3a5f4e6..06984b6e8 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -14,6 +14,8 @@ #include "LinearMath/btVector3.h" #include "Bullet3Common/b3Logging.h" #include "../CommonInterfaces/CommonFileIOInterface.h" +#include "../Utils/b3BulletDefaultFileIO.h" + struct DepthShader : public IShader { Model* m_model; @@ -370,6 +372,12 @@ void TinyRenderObjectData::registerMesh2(btAlignedObjectArray& vertic void TinyRenderObjectData::createCube(float halfExtentsX, float halfExtentsY, float halfExtentsZ, CommonFileIOInterface* fileIO) { + b3BulletDefaultFileIO defaultFileIO; + + if (fileIO==0) + { + fileIO = &defaultFileIO; + } m_model = new Model(); char relativeFileName[1024]; diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 414a7814d..e5b7ae289 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -42,7 +42,7 @@ struct TinyRenderObjectData virtual ~TinyRenderObjectData(); void loadModel(const char* fileName, struct CommonFileIOInterface* fileIO); - void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ, struct CommonFileIOInterface* fileIO); + void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ, struct CommonFileIOInterface* fileIO=0); void registerMeshShape(const float* vertices, int numVertices, const int* indices, int numIndices, const float rgbaColor[4], unsigned char* textureImage = 0, int textureWidth = 0, int textureHeight = 0); From 32b5c88d4b2036c0f3dc2541ca6ecadf3e61f393 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 9 Oct 2018 20:45:17 -0700 Subject: [PATCH 2/2] close the fileIO for urdf loading --- examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index dd44c5991..e1190bb40 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -173,7 +173,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase) } } while (line); - + m_data->m_fileIO->fileClose(fileId); #if 0 std::fstream xml_file(relativeFileName, std::fstream::in); while (xml_file.good())