From 74fca2418b945e4160b1d830b474a5e00e829b35 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@erwincoumans.mtv.corp.google.com>
Date: Tue, 9 Oct 2018 08:00:31 -0700
Subject: [PATCH] fix egl plugin build, with fileIO changes

---
 data/multibody.bullet                         | Bin 16836 -> 16836 bytes
 .../eglRendererVisualShapeConverter.cpp       |  12 ++++++------
 .../eglRendererVisualShapeConverter.h         |   2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index 67a198781354dc6fe4b50f2eacea68bf035f1e9b..0283009946cd6302966b345ef4522b929709667e 100644
GIT binary patch
delta 404
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z)H5(l0E#h!p#w;oK><u6hzS$#N>0{eIyX6mQEajuE5~FhW~q9RCS<?}H5^KTq&ENk
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L-)t7;UT+2fVf0=?

delta 175
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z4ATP^o5!;DlbB5m@)<ta!(=kPIqZb7Ve||g`Ta2VatnE&SzO^jgDoe2VNRHMML=Yd
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diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
index 70548b301..367fb3b50 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -270,7 +270,7 @@ void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
 }
 
 ///todo: merge into single file with TinyRendererVisualShapeConverter
-static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut)
+static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO)
 {
 	visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
 	visualShapeOut.m_dimensions[0] = 0;
@@ -410,7 +410,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
 				{
 					//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
 					b3ImportMeshData meshData;
-					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
 					{
 						if (meshData.m_textureImage1)
 						{
@@ -426,7 +426,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
 					break;
 				}
 				case UrdfGeometry::FILE_STL:
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
 					break;
 				case UrdfGeometry::FILE_COLLADA:
 				{
@@ -442,7 +442,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
 										visualShapeInstances,
 										upAxisTrans,
 										unitMeterScaling,
-										upAxis);
+										upAxis, fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					//		int index = 0;
@@ -633,7 +633,7 @@ static btVector4 sColors[4] =
 void EGLRendererVisualShapeConverter::convertVisualShapes(
 	int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
 	const UrdfLink* linkPtr, const UrdfModel* model,
-	int collisionObjectUniqueId, int bodyUniqueId)
+	int collisionObjectUniqueId, int bodyUniqueId, struct  CommonFileIOInterface* fileIO)
 {
 	btAssert(linkPtr);  // TODO: remove if (not doing it now, because diff will be 50+ lines)
 	if (linkPtr)
@@ -752,7 +752,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
 			visualShape.m_rgbaColor[3] = rgbaColor[3];
 			{
 				B3_PROFILE("convertURDFToVisualShape2");
-				convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape);
+				convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO);
 			}
 			m_data->m_visualShapes.push_back(visualShape);
 
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
index d0aefb68a..1d74a8a09 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
@@ -11,7 +11,7 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
 
 	virtual ~EGLRendererVisualShapeConverter();
 
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
 
 	virtual int getNumVisualShapes(int bodyUniqueId);