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fix loadMJCF/BulletMJCFImporter to load from fileIO

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This commit is contained in:
Erwin Coumans 2019-05-29 19:26:27 -07:00
parent 093986f1ee
commit 411ac4fcc3
1 changed files with 13 additions and 9 deletions
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22
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@ -9,9 +9,9 @@
#include "../../CommonInterfaces/CommonFileIOInterface.h"
#include "../ImportURDFDemo/UrdfFindMeshFile.h"
#include <string>
#include "../../Utils/b3ResourcePath.h"
#include <iostream>
#include <fstream>
#include "../../Utils/b3ResourcePath.h"
#include "../ImportURDFDemo/URDF2Bullet.h"
#include "../ImportURDFDemo/UrdfParser.h"
#include "../ImportURDFDemo/urdfStringSplit.h"
@ -1453,17 +1453,21 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
}
else
{
int maxPathLen = 1024;
fu.extractPath(relativeFileName, m_data->m_pathPrefix, maxPathLen);
//read file
int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
std::fstream xml_file(relativeFileName, std::fstream::in);
while (xml_file.good())
char destBuffer[8192];
char* line = 0;
do
{
std::string line;
std::getline(xml_file, line);
xml_string += (line + "\n");
line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
if (line)
{
xml_string += (std::string(destBuffer) + "\n");
}
}
xml_file.close();
while (line);
m_data->m_fileIO->fileClose(fileId);
if (parseMJCFString(xml_string.c_str(), logger))
{