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PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix)

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loadBullet goes through fileIOPlugin
This commit is contained in:
erwincoumans
2018-10-29 10:25:40 -07:00
parent ee76873689
commit 078887c4d7
7 changed files with 119 additions and 63 deletions
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9
examples/CommonInterfaces/CommonFileIOInterface.h
View File

@@ -3,6 +3,15 @@
struct CommonFileIOInterface
{
int m_fileIOType;
const char* m_pathPrefix;
CommonFileIOInterface(int fileIOType, const char* pathPrefix)
:m_fileIOType(fileIOType),
m_pathPrefix(pathPrefix)
{
}
virtual ~CommonFileIOInterface()
{
}

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -143,7 +143,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
bool fileFound = m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0;
bool fileFound = m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024);
std::string xml_string;
@@ -217,7 +217,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024)) > 0;
bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024));
std::string xml_string;

45
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -10198,30 +10198,43 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
//btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
const char* prefix[] = {"", "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
int numPrefixes = sizeof(prefix) / sizeof(const char*);
char relativeFileName[1024];
FILE* f = 0;
bool found = false;
for (int i = 0; !f && i < numPrefixes; i++)
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
b3AlignedObjectArray<char> buffer;
buffer.reserve(1024);
if (fileIO)
{
sprintf(relativeFileName, "%s%s", prefix[i], clientCmd.m_fileArguments.m_fileName);
f = fopen(relativeFileName, "rb");
if (f)
char fileName[1024];
int fileId = -1;
found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024);
if (found)
{
found = true;
break;
fileId = fileIO->fileOpen(fileName,"rb");
}
if (fileId>=0)
{
int size = fileIO->getFileSize(fileId);
if (size>0)
{
buffer.resize(size);
int actual = fileIO->fileRead(fileId,&buffer[0],size);
if (actual != size)
{
b3Warning("image filesize mismatch!\n");
buffer.resize(0);
} else
{
found=true;
}
}
fileIO->fileClose(fileId);
}
}
if (f)
{
fclose(f);
}
if (found)
if (found && buffer.size())
{
bool ok = importer->loadFile(relativeFileName);
bool ok = importer->loadFileFromMemory(&buffer[0], buffer.size());
if (ok)
{
int numRb = importer->getNumRigidBodies();

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -924,6 +924,7 @@ enum eFileIOTypes
ePosixFileIO = 1,
eZipFileIO,
eCNSFileIO,
eInMemoryFileIO,
};
//limits for vertices/indices in PyBullet::createCollisionShape

106
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
View File

@@ -48,6 +48,7 @@ struct InMemoryFileIO : public CommonFileIOInterface
int m_numFrees;
InMemoryFileIO()
:CommonFileIOInterface(eInMemoryFileIO,0)
{
m_numAllocs=0;
m_numFrees=0;
@@ -293,7 +294,8 @@ struct WrapperFileIO : public CommonFileIOInterface
InMemoryFileIO m_cachedFiles;
WrapperFileIO()
:m_numWrapperInterfaces(0)
:CommonFileIOInterface(0,0),
m_numWrapperInterfaces(0)
{
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
@@ -327,6 +329,14 @@ struct WrapperFileIO : public CommonFileIOInterface
return result;
}
CommonFileIOInterface* getFileIOInterface(int fileIOIndex)
{
if (fileIOIndex>=0 && fileIOIndex<B3_MAX_FILEIO_INTERFACES)
{
return m_availableFileIOInterfaces[fileIOIndex];
}
return 0;
}
void removeFileIOInterface(int fileIOIndex)
{
if (fileIOIndex>=0 && fileIOIndex<B3_MAX_FILEIO_INTERFACES)
@@ -571,51 +581,68 @@ B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* cont
{
case eAddFileIOAction:
{
//create new fileIO interface
//if the fileIO already exists, skip this action
int fileIOType = arguments->m_ints[1];
switch (fileIOType)
bool alreadyExists = false;
for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
{
case ePosixFileIO:
CommonFileIOInterface* fileIO = obj->m_fileIO.getFileIOInterface(i);
if (fileIO)
{
#ifdef B3_EXCLUDE_DEFAULT_FILEIO
printf("ePosixFileIO is not enabled in this build.\n");
#else
obj->m_fileIO.addFileIOInterface(new b3BulletDefaultFileIO());
#endif
break;
}
case eZipFileIO:
{
#ifdef B3_USE_ZIPFILE_FILEIO
if (arguments->m_text)
if (fileIO->m_fileIOType == fileIOType)
{
obj->m_fileIO.addFileIOInterface(new ZipFileIO(arguments->m_text, &obj->m_fileIO));
if (fileIO->m_pathPrefix && strcmp(fileIO->m_pathPrefix,arguments->m_text)==0)
{
result = i;
alreadyExists = true;
break;
}
}
#else
printf("eZipFileIO is not enabled in this build.\n");
#endif
break;
}
case eCNSFileIO:
{
#ifdef B3_USE_CNS_FILEIO
if (strlen(arguments->m_text))
{
obj->m_fileIO.addFileIOInterface(new CNSFileIO(arguments->m_text));
}
else
{
obj->m_fileIO.addFileIOInterface(new CNSFileIO(""));
}
#else//B3_USE_CNS_FILEIO
printf("CNSFileIO is not enabled in this build.\n");
#endif //B3_USE_CNS_FILEIO
break;
}
default:
{
}
}
//create new fileIO interface
if (!alreadyExists)
{
switch (fileIOType)
{
case ePosixFileIO:
{
#ifdef B3_EXCLUDE_DEFAULT_FILEIO
printf("ePosixFileIO is not enabled in this build.\n");
#else
result = obj->m_fileIO.addFileIOInterface(new b3BulletDefaultFileIO(ePosixFileIO, arguments->m_text));
#endif
break;
}
case eZipFileIO:
{
#ifdef B3_USE_ZIPFILE_FILEIO
if (arguments->m_text)
{
result = obj->m_fileIO.addFileIOInterface(new ZipFileIO(eZipFileIO, arguments->m_text, &obj->m_fileIO));
}
#else
printf("eZipFileIO is not enabled in this build.\n");
#endif
break;
}
case eCNSFileIO:
{
#ifdef B3_USE_CNS_FILEIO
result = obj->m_fileIO.addFileIOInterface(new CNSFileIO(eCNSFileIO, arguments->m_text));
#else//B3_USE_CNS_FILEIO
printf("CNSFileIO is not enabled in this build.\n");
#endif //B3_USE_CNS_FILEIO
break;
}
default:
{
}
}//switch (fileIOType)
}//if (!alreadyExists)
break;
}
case eRemoveFileIOAction:
@@ -624,6 +651,7 @@ B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* cont
//remove fileIO interface
int fileIOIndex = arguments->m_ints[1];
obj->m_fileIO.removeFileIOInterface(fileIOIndex);
result = fileIOIndex;
break;
}
default:

6
examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
View File

@@ -10,10 +10,12 @@ struct ZipFileIO : public CommonFileIOInterface
unzFile m_fileHandles[B3_ZIP_FILEIO_MAX_FILES ];
int m_numFileHandles;
ZipFileIO(const char* zipfileName, CommonFileIOInterface* wrapperFileIO)
:m_zipfileName(zipfileName),
ZipFileIO(int fileIOType, const char* zipfileName, CommonFileIOInterface* wrapperFileIO)
:CommonFileIOInterface(fileIOType,0),
m_zipfileName(zipfileName),
m_numFileHandles(0)
{
m_rootPath = m_zipfileName.c_str();
for (int i=0;i<B3_ZIP_FILEIO_MAX_FILES ;i++)
{
m_fileHandles[i]=0;

11
examples/Utils/b3BulletDefaultFileIO.h
View File

@@ -16,12 +16,15 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
return fileIo->findFile(orgFileName, relativeFileName, maxRelativeFileNameMaxLen);
}
char m_prefix[1024];
FILE* m_fileHandles[B3_FILEIO_MAX_FILES];
int m_numFileHandles;
b3BulletDefaultFileIO()
:m_numFileHandles(0)
b3BulletDefaultFileIO(int fileIOType=0, const char* pathPrefix=0)
:CommonFileIOInterface(fileIOType, m_prefix),
m_numFileHandles(0)
{
sprintf(m_prefix,"%s", pathPrefix);
for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
{
m_fileHandles[i]=0;
@@ -97,7 +100,7 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
virtual bool findResourcePath(const char* fileName, char* relativeFileName, int relativeFileNameSizeInBytes)
{
return b3ResourcePath::findResourcePath(fileName, relativeFileName, relativeFileNameSizeInBytes, b3BulletDefaultFileIO::FileIOPluginFindFile, this);
return b3ResourcePath::findResourcePath(fileName, relativeFileName, relativeFileNameSizeInBytes, b3BulletDefaultFileIO::FileIOPluginFindFile, this)>0;
}
@@ -114,7 +117,7 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
}
//printf("Trying various directories, relative to current working directory\n");
const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
const char* prefix[] = {m_prefix, "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
int numPrefixes = sizeof(prefix) / sizeof(const char*);
f = 0;