state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types.

(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -189,7 +189,12 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 	BulletErrorLogger loggie;
 	m_data->m_urdfParser.setParseSDF(false);
-	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
+	bool result = false;
+	
+	if (xml_string.length())
+	{
+			result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (m_data->m_flags & CUF_PARSE_SENSORS));
+	}
 
 	return result;
 }

examples/SharedMemory/SharedMemoryPublic.h

@@ -909,4 +909,18 @@ enum eConstraintSolverTypes
 	eConstraintSolverLCP_BLOCK_PGS,
 };
 
+enum eFileIOActions
+{
+	eAddFileIOAction = 1024,//avoid collision with eFileIOTypes
+	eRemoveFileIOAction,
+};
+
+
+enum eFileIOTypes
+{
+	ePosixFileIO = 1,
+	eZipFileIO,
+	eCNSFileIO,
+};
+
 #endif  //SHARED_MEMORY_PUBLIC_H

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -6,27 +6,209 @@
 #include <stdio.h>
 #include "../../../CommonInterfaces/CommonFileIOInterface.h"
 #include "../../../Utils/b3ResourcePath.h"
+
+
+#ifndef B3_EXCLUDE_DEFAULT_FILEIO
 #include "../../../Utils/b3BulletDefaultFileIO.h"
+#endif //B3_EXCLUDE_DEFAULT_FILEIO
 
 
+#ifdef B3_USE_ZIPFILE_FILEIO
 #include "zipFileIO.h"
+#endif //B3_USE_ZIPFILE_FILEIO
+
+
+#ifdef B3_USE_CNS_FILEIO
+#include "CNSFileIO.h"
+#endif //B3_USE_CNS_FILEIO
+
+#define B3_MAX_FILEIO_INTERFACES 1024
+
+struct WrapperFileHandle
+{
+	CommonFileIOInterface* childFileIO;
+	int m_childFileHandle;
+};
+
+struct WrapperFileIO : public CommonFileIOInterface
+{
+	CommonFileIOInterface* m_availableFileIOInterfaces[B3_MAX_FILEIO_INTERFACES];
+	int m_numWrapperInterfaces;
+
+	WrapperFileHandle m_wrapperFileHandles[B3_MAX_FILEIO_INTERFACES];
+	
+
+	WrapperFileIO()
+		:m_numWrapperInterfaces(0)
+	{
+		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+		{
+			m_availableFileIOInterfaces[i]=0;
+			m_wrapperFileHandles[i].childFileIO=0;
+			m_wrapperFileHandles[i].m_childFileHandle=0;
+		}
+	}
+
+	virtual ~WrapperFileIO()
+	{
+		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+		{
+			removeFileIOInterface(i);
+		}
+	}
+
+	int addFileIOInterface(CommonFileIOInterface* fileIO)
+	{
+		int result = -1;
+		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+		{
+			if (m_availableFileIOInterfaces[i]==0)
+			{
+				m_availableFileIOInterfaces[i]=fileIO;
+				result = i;
+				break;
+			}
+		}
+		return result;
+	}
+
+	void removeFileIOInterface(int fileIOIndex)
+	{
+		if (fileIOIndex>=0 && fileIOIndex<B3_MAX_FILEIO_INTERFACES)
+		{
+			if (m_availableFileIOInterfaces[fileIOIndex])
+			{
+				delete m_availableFileIOInterfaces[fileIOIndex];
+				m_availableFileIOInterfaces[fileIOIndex]=0;
+			}
+		}
+	}
+
+	virtual int fileOpen(const char* fileName, const char* mode)
+	{
+		//find an available wrapperFileHandle slot
+		int wrapperFileHandle=-1;
+		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+		{
+			if (m_wrapperFileHandles[i].childFileIO==0)
+			{
+				wrapperFileHandle=i;
+				break;
+			}
+		}
+		if (wrapperFileHandle>=0)
+		{
+			//figure out what wrapper interface to use
+			//use the first one that can open the file
+			for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+			{
+				CommonFileIOInterface* childFileIO=m_availableFileIOInterfaces[i];
+				if (childFileIO)
+				{
+					int childHandle = childFileIO->fileOpen(fileName, mode);
+					if (childHandle>=0)
+					{
+						m_wrapperFileHandles[wrapperFileHandle].childFileIO = childFileIO;
+						m_wrapperFileHandles[wrapperFileHandle].m_childFileHandle = childHandle;
+						break;
+					}
+				}
+			}
+		}
+		return wrapperFileHandle;
+	}
+
+	virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)
+	{
+		int fileReadResult=-1;
+		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
+		{
+			if (m_wrapperFileHandles[fileHandle].childFileIO)
+			{
+				fileReadResult = m_wrapperFileHandles[fileHandle].childFileIO->fileRead(
+					m_wrapperFileHandles[fileHandle].m_childFileHandle, destBuffer, numBytes);
+			}
+		}
+		return fileReadResult;
+	}
+
+	virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)
+	{
+		//todo
+		return -1;
+	}
+	virtual void fileClose(int fileHandle)
+	{
+		int fileReadResult=-1;
+		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
+		{
+			if (m_wrapperFileHandles[fileHandle].childFileIO)
+			{
+				m_wrapperFileHandles[fileHandle].childFileIO->fileClose(
+					m_wrapperFileHandles[fileHandle].m_childFileHandle);
+				m_wrapperFileHandles[fileHandle].childFileIO = 0;
+				m_wrapperFileHandles[fileHandle].m_childFileHandle = -1;
+			}
+		}
+	}
+	virtual bool findResourcePath(const char* fileName,  char* resourcePathOut, int resourcePathMaxNumBytes)
+	{
+		bool found = false;
+		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
+		{
+			if (m_availableFileIOInterfaces[i])
+			{
+				found = m_availableFileIOInterfaces[i]->findResourcePath(fileName, resourcePathOut, resourcePathMaxNumBytes);
+			}
+			if (found)
+				break;
+		}
+		return found;
+	}
+	virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)
+	{
+		char* result = 0;
+
+		int fileReadResult=-1;
+		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
+		{
+			if (m_wrapperFileHandles[fileHandle].childFileIO)
+			{
+				result = m_wrapperFileHandles[fileHandle].childFileIO->readLine(
+					m_wrapperFileHandles[fileHandle].m_childFileHandle,
+					destBuffer, numBytes);
+			}
+		}
+		return result;
+	}
+	virtual int getFileSize(int fileHandle)
+	{
+		int numBytes = 0;
+
+		int fileReadResult=-1;
+		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
+		{
+			if (m_wrapperFileHandles[fileHandle].childFileIO)
+			{
+				numBytes = m_wrapperFileHandles[fileHandle].childFileIO->getFileSize(
+					m_wrapperFileHandles[fileHandle].m_childFileHandle);
+			}
+		}
+		return numBytes;
+	}
+
+};
 
-//#define B3_USE_ZLIB
-#ifdef B3_USE_ZLIB
-typedef ZipFileIO MyFileIO;
-#else
-typedef b3BulletDefaultFileIO MyFileIO;
-#endif
 
 struct FileIOClass
 {
 	int m_testData;
 
-	MyFileIO m_fileIO;
+	WrapperFileIO m_fileIO;
 
 	FileIOClass()
 		: m_testData(42),
-		m_fileIO()//"e:/develop/bullet3/data/plane.zip")
+		m_fileIO()
 	{
 	}
 	virtual ~FileIOClass()
@@ -38,49 +220,98 @@ B3_SHARED_API int initPlugin_fileIOPlugin(struct b3PluginContext* context)
 {
 	FileIOClass* obj = new FileIOClass();
 	context->m_userPointer = obj;
+	
+#ifndef B3_EXCLUDE_DEFAULT_FILEIO
+	obj->m_fileIO.addFileIOInterface(new b3BulletDefaultFileIO());
+#endif //B3_EXCLUDE_DEFAULT_FILEIO
+	
+
 	return SHARED_MEMORY_MAGIC_NUMBER;
 }
 
 
 B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
 {
-	printf("text argument:%s\n", arguments->m_text);
+	int result=-1;
-	printf("int args: [");
-	for (int i = 0; i < arguments->m_numInts; i++)
-	{
-		printf("%d", arguments->m_ints[i]);
-		if ((i + 1) < arguments->m_numInts)
-		{
-			printf(",");
-		}
-	}
-	printf("]\nfloat args: [");
-	for (int i = 0; i < arguments->m_numFloats; i++)
-	{
-		printf("%f", arguments->m_floats[i]);
-		if ((i + 1) < arguments->m_numFloats)
-		{
-			printf(",");
-		}
-	}
-	printf("]\n");
 
 	FileIOClass* obj = (FileIOClass*)context->m_userPointer;
 
-	b3SharedMemoryStatusHandle statusHandle;
+	printf("text argument:%s\n", arguments->m_text);
-	int statusType = -1;
+	printf("int args: [");
-	int bodyUniqueId = -1;
+	
-
+	//remove a fileIO type
-	b3SharedMemoryCommandHandle command =
+	if (arguments->m_numInts==1)
-		b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
-
-	statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
-	statusType = b3GetStatusType(statusHandle);
-	if (statusType == CMD_URDF_LOADING_COMPLETED)
 	{
-		bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
+		int fileIOIndex = arguments->m_ints[0];
+		obj->m_fileIO.removeFileIOInterface(fileIOIndex);
 	}
-	return bodyUniqueId;
+
+	if (arguments->m_numInts==2)
+	{
+		int action = arguments->m_ints[0];
+		switch (action)
+		{
+			case eAddFileIOAction:
+			{
+				//create new fileIO interface
+				int fileIOType = arguments->m_ints[1];
+				switch (fileIOType)
+				{
+					case ePosixFileIO:
+					{
+#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)
+						{
+							obj->m_fileIO.addFileIOInterface(new ZipFileIO(arguments->m_text));
+						}
+#else
+						printf("eZipFileIO is not enabled in this build.\n");
+#endif
+						break;
+					}
+					case eCNSFileIO:
+					{
+#ifdef B3_USE_CNS_FILEIO
+						B3_USE_ZIPFILE_FILEIO
+						if (arguments->m_text)
+						{
+							obj->m_fileIO.addFileIOInterface(new CNSFileIO(arguments->m_text));
+						}
+#else//B3_USE_CNS_FILEIO
+						printf("CNSFileIO is not enabled in this build.\n");
+#endif //B3_USE_CNS_FILEIO
+						break;
+					}
+					default:
+					{
+					}
+				}
+				break;
+			}
+			case eRemoveFileIOAction:
+
+			{
+				//remove fileIO interface
+				int fileIOIndex = arguments->m_ints[1];
+				obj->m_fileIO.removeFileIOInterface(fileIOIndex);
+				break;
+			}
+			default:
+			{
+				printf("executePluginCommand_fileIOPlugin: unknown action\n");
+			}
+		}
+	}
+	return result;
 }
 
 B3_SHARED_API struct CommonFileIOInterface* getFileIOFunc_fileIOPlugin(struct b3PluginContext* context)

examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h

@@ -29,7 +29,12 @@ struct ZipFileIO : public CommonFileIOInterface
 
 	virtual ~ZipFileIO()
 	{
+		for (int i=0;i<B3_ZIP_FILEIO_MAX_FILES;i++)
+		{
+			fileClose(i);
+		}
 	}
+
 	virtual int fileOpen(const char* fileName, const char* mode)
 	{
 		//search a free slot
@@ -88,6 +93,9 @@ struct ZipFileIO : public CommonFileIOInterface
 							slot=-1;
 						}
 					}
+				} else
+				{
+					slot=-1;
 				}
 			}
 		}

examples/pybullet/pybullet.c

@@ -9911,6 +9911,13 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "STATE_LOG_JOINT_USER_TORQUES", STATE_LOG_JOINT_USER_TORQUES);
 	PyModule_AddIntConstant(m, "STATE_LOG_JOINT_TORQUES", STATE_LOG_JOINT_USER_TORQUES + STATE_LOG_JOINT_MOTOR_TORQUES);
 
+	PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction);
+	PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction);
+
+	PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO );
+	PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO );
+	PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO );
+
 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
 	Py_INCREF(SpamError);
 	PyModule_AddObject(m, "error", SpamError);