add fileOpenDialog and enable loading of urdf from GUI

(will add .bullet file support soon)
Uses native Windows (getFileOpenFileName) and Mac OSX NSOpenPanel,
on Linux using pipe popen to zenity)

btgui/OpenGLWindow/MacOpenGLWindow.h

@@ -81,7 +81,7 @@ public:
 	
 	virtual void setWindowTitle(const char* title);
 
-	
+    int fileOpenDialog(char* filename, int maxNameLength);
 
 };
 

btgui/OpenGLWindow/MacOpenGLWindow.mm

@@ -989,8 +989,48 @@ void MacOpenGLWindow::setRequestExit()
 	m_internalData->m_exitRequested = true;
 }
 
+#include <string.h>
+int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+    //save/restore the OpenGL context, NSOpenPanel can mess it up
+    //http://stackoverflow.com/questions/13987148/nsopenpanel-breaks-my-sdl-opengl-app
+    
+    NSOpenGLContext *foo = [NSOpenGLContext currentContext];
+    // get the url of a .txt file
+    NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel];
+    NSArray * zAryOfExtensions = [NSArray arrayWithObject:@"urdf"];
+    [zOpenPanel setAllowedFileTypes:zAryOfExtensions];
+    NSInteger zIntResult = [zOpenPanel runModal];
+    
+    [foo makeCurrentContext];
+    
+    if (zIntResult == NSFileHandlingPanelCancelButton) {
+        NSLog(@"readUsingOpenPanel cancelled");
+        return 0;
+    }
+    NSURL *zUrl = [zOpenPanel URL];
+   if (zUrl)
+   {
+       //without the file://
+       NSString *myString = [zUrl absoluteString];
+       int slen = [myString length];
+       if (slen < maxNameLength)
+       {
+           const char *cfilename=[myString UTF8String];
+           //expect file:// at start of URL
+           const char* p = strstr(cfilename, "file://");
+            if (p==cfilename)
+            {
+                int actualLen = strlen(cfilename)-7;
+                memcpy(filename, cfilename+7,actualLen);
+                filename[actualLen]=0;
+                return actualLen;
+            }
+       }
+   }
 
-
+    return 0;
+}
 
 
 

btgui/OpenGLWindow/Win32OpenGLWindow.cpp

@@ -137,6 +137,40 @@ void	Win32OpenGLWindow::endRendering()
 
 }
 
+int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
+{
+	//wchar_t wideChars[1024];
 
+		OPENFILENAME ofn ;
+	ZeroMemory( &ofn , sizeof( ofn));
+	ofn.lStructSize = sizeof ( ofn );
+	ofn.hwndOwner = NULL  ;
+
+#ifdef UNICODE
+	WCHAR bla[1024];
+	ofn.lpstrFile = bla;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	ofn.lpstrFilter = L"URDF\0*.urdf\0";
+#else
+	ofn.lpstrFile = fileName;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
+	ofn.lpstrFilter = "URDF\0*.urdf\0";
+	
+#endif
+
+	ofn.nFilterIndex =1;
+	ofn.lpstrFileTitle = NULL ;
+	ofn.nMaxFileTitle = 0 ;
+	ofn.lpstrInitialDir=NULL ;
+	ofn.Flags = OFN_PATHMUSTEXIST|OFN_FILEMUSTEXIST ;
+	GetOpenFileName( &ofn );
+	return strlen(fileName);
+
+
+	//return 0;
+}
 
 	

btgui/OpenGLWindow/Win32OpenGLWindow.h

@@ -51,6 +51,8 @@ public:
 	virtual	void	endRendering();
 
 	virtual float getRetinaScale() const {return 1.f;}
+
+	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
 
 

btgui/OpenGLWindow/X11OpenGLWindow.cpp

@@ -959,4 +959,29 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 {
 	return m_data->m_keyboardCallback;
 }
+#include <stdio.h>
 
+int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+	int len = 0;
+	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
+	if (output)
+	{
+		while( fgets(filename, maxNameLength-1, output) != NULL )
+		{
+			len=strlen(filename);
+			if (len>0)
+			{
+				filename[len-1]=0;
+				printf("file open (length=%d) = %s\n", len,filename);
+			}	
+		}
+		pclose(output);
+	} else
+	{
+		printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
+	}
+	XRaiseWindow(m_data->m_dpy, m_data->m_win);
+	return len;
+	
+}

btgui/OpenGLWindow/X11OpenGLWindow.h

@@ -59,6 +59,7 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 

btgui/OpenGLWindow/b3gWindowInterface.h

@@ -110,6 +110,8 @@ class b3gWindowInterface
 
 		virtual	float	getRetinaScale() const =0;
 
+        virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
+    
 };
 
 #endif //B3G_WINDOW_INTERFACE_H