XML Example: World Loader

Overview

Loads a world XML file and publishes it through RaisimServer. With no argument it loads objects/SingleBodies.xml; pass another file to load it instead. See World Configuration File for the XML format.

Screenshot

The screenshot shows heightMaps/heightMapUsingPng.xml.

Target

CMake target: xml_world_loader.

Run

Run the build-tree executable, optionally with an XML file:

./build-examples/examples/xml_world_loader
./build-examples/examples/xml_world_loader heightMaps/heightMapUsingPng.xml
./build-examples/examples/xml_world_loader /absolute/path/to/world.xml

On Windows, run xml_world_loader.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080. --help prints the usage.

Details

• Uses the argument as given if that file exists; otherwise looks for it under the rsc/xmlScripts copy next to the executable. It exits with an error if neither exists.
• The bundled worlds under rsc/xmlScripts include objects/, heightMaps/, material/, templatedWorld/, and wire/ examples.
• Constructs raisim::World from the resolved path and publishes it through RaisimServer.

For application code that already has a path, construct the world directly:

raisim::World world("/absolute/path/to/world.xml");