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

loadBullet goes through fileIOPlugin

examples/CommonInterfaces/CommonFileIOInterface.h

@@ -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()
 	{
 	}

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -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;
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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);
+		char fileName[1024];
-		f = fopen(relativeFileName, "rb");
+		int fileId = -1;
-		if (f)
+		found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName,  fileName, 1024);
+		if (found)
 		{
-			found = true;
+			fileId = fileIO->fileOpen(fileName,"rb");
-			break;
+		}
+		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();

examples/SharedMemory/SharedMemoryPublic.h

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

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -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
+						if (fileIO->m_fileIOType == fileIOType)
-						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)
 						{
-							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:

examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h

@@ -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)
+	ZipFileIO(int fileIOType, const char* zipfileName, CommonFileIOInterface* wrapperFileIO)
-		:m_zipfileName(zipfileName),
+		: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;

examples/Utils/b3BulletDefaultFileIO.h

@@ -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()
+	b3BulletDefaultFileIO(int fileIOType=0, const char* pathPrefix=0)
-		:m_numFileHandles(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;