void Read(KinBodyPtr& pbody, const std::vector<char>& data,const AttributesList& atts)
{
_ProcessAtts(atts);
if( !pbody ) {
pbody = RaveCreateKinBody(_penv,_bodytype);
}
pbody->SetName(_bodyname);
Assimp::XFileParserOpenRAVE parser(data);
_Read(pbody,parser.GetImportedData());
if( pbody->GetName().size() == 0 ) {
pbody->SetName("body");
}
}
void ReadFile(KinBodyPtr& pbody, const std::string& filename, const AttributesList& atts)
{
std::ifstream f(filename.c_str());
if( !f ) {
throw OPENRAVE_EXCEPTION_FORMAT("failed to read %s filename",filename,ORE_InvalidArguments);
}
f.seekg(0,ios::end);
std::vector<char> filedata(static_cast<size_t>(f.tellg())+1, 0); // need a null-terminator
f.seekg(0,ios::beg);
f.read(&filedata[0], filedata.size());
Read(pbody,filedata,atts);
pbody->__struri = filename;
#if defined(HAVE_BOOST_FILESYSTEM) && BOOST_VERSION >= 103600 // stem() was introduced in 1.36
boost::filesystem::path bfpath(filename);
#if defined(BOOST_FILESYSTEM_VERSION) && BOOST_FILESYSTEM_VERSION >= 3
pbody->SetName(bfpath.stem().string());
#else
pbody->SetName(bfpath.stem());
#endif
#endif
}
