internal Model(Include include, IReadOnlyDictionary <string, string> modelPaths)
{
System.Uri uri = include.Uri.ToUri();
if (!modelPaths.TryGetValue(uri.Host.ToUpperInvariant(), out string path))
{
Console.Error.WriteLine("Model: Failed to find path '" + uri.Host + "'");
IsInvalid = true;
Includes = new List <Include>().AsReadOnly();
Models = new List <Model>().AsReadOnly();
Frames = new List <Frame>().AsReadOnly();
Links = new List <Link>().AsReadOnly();
return;
}
string sdfPath = path + "/model.sdf";
if (!File.Exists(sdfPath))
{
throw new FileNotFoundException(sdfPath);
}
SdfFile sdfFile = SdfFile.CreateFromFile(sdfPath);
if (sdfFile.Models.Count == 0)
{
Console.WriteLine("Warning: Included model file " + sdfPath + " with no models!");
IsInvalid = true;
Includes = new List <Include>().AsReadOnly();
Models = new List <Model>().AsReadOnly();
Frames = new List <Frame>().AsReadOnly();
Links = new List <Link>().AsReadOnly();
return;
}
Model source = sdfFile.Models[0].ResolveIncludes(modelPaths);
Name = include.Name ?? source.Name;
CanonicalLink = source.CanonicalLink;
Static = include.Static ?? source.Static;
SelfCollide = source.SelfCollide;
AllowAutoDisable = source.AllowAutoDisable;
EnableWind = source.EnableWind;
Frames = source.Frames;
Pose = source.Pose;
IncludePose = include.Pose;
Links = Name is null ?
source.Links :
source.Links.Select(link => new Link(link, Name + "::" + link.Name)).ToList().AsReadOnly();
Models = source.Models;
Includes = source.Includes; // should be empty
}
SdfFile(SdfFile source, IReadOnlyDictionary <string, string> modelPaths)
{
Worlds = source.Worlds.Select(world => world.ResolveIncludes(modelPaths)).ToList().AsReadOnly();
Models = source.Models.Select(model => model.ResolveIncludes(modelPaths)).ToList().AsReadOnly();
Lights = source.Lights;
}
