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kdl_parser
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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
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36
collada_urdf/src/urdf_to_collada.cpp
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@ -204,7 +204,7 @@ public:
cerr << "COLLADA warning: " << msg << "\n";
}
bool write() {
bool writeScene() {
SCENE scene = createScene();
domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
@ -260,24 +260,24 @@ public:
void loadMesh(const string& filename, domGeometryRef mesh) {
// Load the mesh
resource_retriever::MemoryResource resource;
resource_retriever::Retriever retriever;
try {
resource = retriever.get(filename.c_str());
}
catch (resource_retriever::Exception& e) {
cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl;
return;
}
resource_retriever::MemoryResource resource;
resource_retriever::Retriever retriever;
try {
resource = retriever.get(filename.c_str());
}
catch (resource_retriever::Exception& e) {
cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl;
return;
}
// Write the mesh to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX";
int mesh_fd = mkstemp(tmp_filename);
write(mesh_fd, resource.data, resource.size);
close(mesh_fd);
// Write the mesh to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX";
int mesh_fd = mkstemp(tmp_filename);
write(mesh_fd, resource.data.get(), resource.size);
close(mesh_fd);
// Import the mesh using assimp
const aiScene* scene = importer_.ReadFile(tmp_filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
// Import the mesh using assimp
const aiScene* scene = importer_.ReadFile(tmp_filename, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene)
cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl;
else
@ -586,7 +586,7 @@ int main(int argc, char** argv)
}
ColladaWriter* writer = new ColladaWriter(&robot);
writer->write();
writer->writeScene();
delete writer;
return 0;