bool VRMLBodyLoader::load(BodyPtr body, const std::string& filename)
{
body->clearDevices();
body->clearExtraJoints();
return impl->load(body.get(), filename);
}
bool BodyLoaderImpl::load(BodyPtr& body, const std::string& filename)
{
bool result = false;
filesystem::path orgpath(filename);
string ext = getExtension(orgpath);
string modelFilename;
MappingPtr info;
try {
if(ext != "yaml"){
modelFilename = filename;
} else {
YAMLReader parser;
info = parser.loadDocument(filename)->toMapping();
filesystem::path mpath(info->get("modelFile").toString());
if(mpath.has_root_path()){
modelFilename = getNativePathString(mpath);
} else {
modelFilename = getNativePathString(orgpath.parent_path() / mpath);
}
ext = getExtension(mpath);
}
LoaderMap::iterator p = loaderMap.find(ext);
if(p != loaderMap.end()){
loader = p->second;
} else {
boost::lock_guard<boost::mutex> lock(loaderFactoryMapMutex);
LoaderFactoryMap::iterator q = loaderFactoryMap.find(ext);
if(q != loaderFactoryMap.end()){
LoaderFactory factory = q->second;
loader = factory();
loaderMap[ext] = loader;
}
}
if(!loader){
(*os) << str(boost::format(_("The file format of \"%1%\" is not supported by the body loader.\n"))
% getFilename(filesystem::path(modelFilename)));
} else {
loader->setMessageSink(*os);
loader->setVerbose(isVerbose);
loader->setShapeLoadingEnabled(isShapeLoadingEnabled);
int dn = defaultDivisionNumber;
if(info){
Mapping& geometryInfo = *info->findMapping("geometry");
if(geometryInfo.isValid()){
geometryInfo.read("divisionNumber", dn);
}
}
if(dn > 0){
loader->setDefaultDivisionNumber(dn);
}
if(defaultCreaseAngle >= 0.0){
loader->setDefaultCreaseAngle(defaultCreaseAngle);
}
body->clearDevices();
body->clearExtraJoints();
if(info){
body->resetInfo(info.get());
} else {
body->info()->clear();
}
result = loader->load(body, modelFilename);
}
} catch(const ValueNode::Exception& ex){
(*os) << ex.message();
} catch(const nonexistent_key_error& error){
if(const std::string* message = boost::get_error_info<error_info_message>(error)){
(*os) << *message;
}
} catch(const std::exception& ex){
(*os) << ex.what();
}
os->flush();
return result;
}