bkinnightskytw
/
kdl_parser
mirror of https://github.com/existedinnettw/kdl_parser.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

collada_urdf: write -> writeScene

This commit is contained in:
tfield 2010-03-05 00:13:59 +00:00
parent 56e1a30050
commit 8585e3a5be
1 changed files with 20 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
collada_urdf/src/urdf_to_collada.cpp
View File

@ -204,7 +204,7 @@ public:
cerr << "COLLADA warning: " << msg << "\n"; cerr << "COLLADA warning: " << msg << "\n";
} }
bool write() { bool writeScene() {
SCENE scene = createScene(); SCENE scene = createScene();
domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
@ -273,11 +273,11 @@ public:
// Write the mesh to a temporary file // Write the mesh to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX"; char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX";
int mesh_fd = mkstemp(tmp_filename); int mesh_fd = mkstemp(tmp_filename);
write(mesh_fd, resource.data, resource.size); write(mesh_fd, resource.data.get(), resource.size);
close(mesh_fd); close(mesh_fd);
// Import the mesh using assimp // Import the mesh using assimp
const aiScene* scene = importer_.ReadFile(tmp_filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); const aiScene* scene = importer_.ReadFile(tmp_filename, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene) if (!scene)
cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl;
else else
@ -586,7 +586,7 @@ int main(int argc, char** argv)
} }
ColladaWriter* writer = new ColladaWriter(&robot); ColladaWriter* writer = new ColladaWriter(&robot);
writer->write(); writer->writeScene();
delete writer; delete writer;
return 0; return 0;