Suppress verbose warnings

dart/gui/SimWindow.cpp

@@ -68,6 +68,8 @@ namespace gui {
 
 SimWindow::SimWindow()
   : Win3D() {
+  mWorld = std::make_shared<simulation::World>();
+
   mBackground[0] = 1.0;
   mBackground[1] = 1.0;
   mBackground[2] = 1.0;

dart/utils/CompositeResourceRetriever.cpp

@@ -88,6 +88,9 @@ common::ResourcePtr CompositeResourceRetriever::retrieve(
     = getRetrievers(_uri);
   for(const common::ResourceRetrieverPtr& resourceRetriever : retrievers)
   {
+    if(!resourceRetriever->exists(_uri))
+      continue;
+
     if(common::ResourcePtr resource = resourceRetriever->retrieve(_uri))
       return resource;
   }

dart/utils/SampleResourceRetriever.cpp

@@ -54,14 +54,23 @@ bool SampleResourceRetriever::exists(const common::Uri& uri)
   if (!resolveDataUri(uri, relativePath))
     return false;
 
-  for (const auto& dataPath : mDataDirectories)
+  if (uri.mAuthority.get() == "sample")
   {
-    common::Uri fileUri;
-    fileUri.fromPath(dataPath + relativePath);
-
-    if (mLocalRetriever->exists(fileUri))
+    for (const auto& dataPath : mDataDirectories)
+    {
+      common::Uri fileUri;
+      fileUri.fromPath(dataPath + relativePath);
+
+      if (mLocalRetriever->exists(fileUri))
+        return true;
+    }
+  }
+  else
+  {
+    if (mLocalRetriever->exists(uri))
       return true;
   }
+
   return false;
 }
 
@@ -72,14 +81,29 @@ common::ResourcePtr SampleResourceRetriever::retrieve(const common::Uri& uri)
   if (!resolveDataUri(uri, relativePath))
     return nullptr;
 
-  for (const auto& dataPath : mDataDirectories)
+  if (uri.mAuthority.get() == "sample")
   {
-    common::Uri fileUri;
-    fileUri.fromPath(dataPath + relativePath);
+    for (const auto& dataPath : mDataDirectories)
+    {
+      common::Uri fileUri;
+      fileUri.fromPath(dataPath + relativePath);
+
+      if(!mLocalRetriever->exists(fileUri))
+        continue;
 
-    if (const auto resource = mLocalRetriever->retrieve(fileUri))
+      if (const auto resource = mLocalRetriever->retrieve(fileUri))
+        return resource;
+    }
+  }
+  else
+  {
+    if(!mLocalRetriever->exists(uri))
+      return nullptr;
+
+    if (const auto resource = mLocalRetriever->retrieve(uri))
       return resource;
   }
+
   return nullptr;
 }
 
@@ -110,13 +134,6 @@ bool SampleResourceRetriever::resolveDataUri(
   if (uri.mScheme.get_value_or("file") != "file")
     return false;
 
-  if (uri.mAuthority.get() != "sample")
-  {
-    dtwarn << "[SampleResourceRetriever::resolveDataUri] Invalid URI: The "
-           << "authority of '" << uri.toString() << "' should be 'example'.\n";
-    return false;
-  }
-
   if (!uri.mPath)
   {
     dtwarn << "[SampleResourceRetriever::resolveDataUri] Failed extracting"

dart/utils/SampleResourceRetriever.hpp

@@ -86,8 +86,7 @@ class SampleResourceRetriever : public common::ResourceRetriever
 
   void addDataDirectory(const std::string& packageDirectory);
 
-  bool resolveDataUri(const common::Uri& uri,
-    std::string& relativePath) const;
+  bool resolveDataUri(const common::Uri& uri, std::string& relativePath) const;
 
 private:
   common::ResourceRetrieverPtr mLocalRetriever;

dart/utils/SkelParser.cpp

@@ -74,7 +74,6 @@
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/dynamics/Marker.hpp"
 #include "dart/utils/XmlHelpers.hpp"
-#include "dart/utils/CompositeResourceRetriever.hpp"
 #include "dart/utils/SampleResourceRetriever.hpp"
 
 namespace dart {
@@ -2408,19 +2407,9 @@ common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& _retriever)
 {
   if(_retriever)
-  {
     return _retriever;
-  }
   else
-  {
-    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
-    newRetriever->addSchemaRetriever(
-          "file", std::make_shared<common::LocalResourceRetriever>());
-    newRetriever->addSchemaRetriever(
-          "file", SampleResourceRetriever::create());
-
-    return newRetriever;
-  }
+    return SampleResourceRetriever::create();
 }
 
 } // anonymous namespace

dart/utils/VskParser.cpp

@@ -42,7 +42,6 @@
 #include "dart/common/LocalResourceRetriever.hpp"
 #include "dart/common/Uri.hpp"
 #include "dart/dynamics/dynamics.hpp"
-#include "dart/utils/CompositeResourceRetriever.hpp"
 #include "dart/utils/SampleResourceRetriever.hpp"
 #include "dart/utils/XmlHelpers.hpp"
 
@@ -1024,19 +1023,9 @@ common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& retriever)
 {
   if(retriever)
-  {
     return retriever;
-  }
   else
-  {
-    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
-    newRetriever->addSchemaRetriever(
-          "file", std::make_shared<common::LocalResourceRetriever>());
-    newRetriever->addSchemaRetriever(
-          "file", SampleResourceRetriever::create());
-
-    return newRetriever;
-  }
+    return SampleResourceRetriever::create();
 }
 
 } // anonymous namespace

dart/utils/sdf/SdfParser.cpp

@@ -62,7 +62,6 @@
 #include "dart/simulation/World.hpp"
 #include "dart/utils/SkelParser.hpp"
 #include "dart/utils/XmlHelpers.hpp"
-#include "dart/utils/CompositeResourceRetriever.hpp"
 #include "dart/utils/SampleResourceRetriever.hpp"
 
 namespace dart {
@@ -1490,19 +1489,9 @@ common::ResourceRetrieverPtr getRetriever(
   const common::ResourceRetrieverPtr& retriever)
 {
   if(retriever)
-  {
     return retriever;
-  }
   else
-  {
-    auto newRetriever = std::make_shared<utils::CompositeResourceRetriever>();
-    newRetriever->addSchemaRetriever(
-          "file", std::make_shared<common::LocalResourceRetriever>());
-    newRetriever->addSchemaRetriever(
-          "file", SampleResourceRetriever::create());
-
-    return newRetriever;
-  }
+    return SampleResourceRetriever::create();
 }
 
 } // anonymous namespace