A basic loader for VRML2.0/VRML97 files. More...

Detailed Description

A basic loader for VRML2.0/VRML97 files.

Author: Nicolas Docquier

This file implements a loader for VRML2.0/VRML97 files. It was initially written to load shapes defined in vrml/wrl files to Robotran 3D vizualisation.

It defines its own objects that:

store the data parsed from the file
implement a method to retrieve the vertices coordinates and colors of triangles. This method is called recursively to cover the whole scene tree defined in the VRML

A specific class implements the parsing procedure and gives a method to retrieve triangles of the whole scenes.

The DEF/USE mechanism that allows to reuse a predefined node (geometry, material, ...) is not managed yet. But it is not used for common VRML files that we use in MBS.

Textures are not managed.

Basically, this loader parses all basic shapes and IndexedFaceSet. Other shapes are ignored.

The specification of VRML97 can be found here: http://www.web3d.org/documents/specifications/14772/V2.0/part1/nodesRef.html A nice tutorial is available here: http://grandm.free.fr/apprend/vrml/00index.html