Implement InMemoryFile for memory caching for fileIO plugin.

Support SDF loading through fileIO plugin. Replace strcspn by C code (not crossplatform) Add flag for loadURDF to use color from MTL file (instead from URDF link material) pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
2018-10-14 12:54:34 -07:00
parent 3309ce8f6a
commit c1e20c448f
12 changed files with 511 additions and 66 deletions
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -53,6 +53,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 	meshData.m_textureImage1 = 0;
 	meshData.m_textureHeight = 0;
 	meshData.m_textureWidth = 0;
+	meshData.m_flags = 0;
 	meshData.m_isCached = false;

 	char relativeFileName[1024];
@@ -78,6 +79,18 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 			for (int i = 0; meshData.m_textureImage1 == 0 && i < shapes.size(); i++)
 			{
 				const tinyobj::shape_t& shape = shapes[i];
+				meshData.m_rgbaColor[0] = shape.material.diffuse[0];
+				meshData.m_rgbaColor[1] = shape.material.diffuse[1];
+				meshData.m_rgbaColor[2] = shape.material.diffuse[2];
+				meshData.m_rgbaColor[3] = shape.material.transparency;
+				meshData.m_flags |= B3_IMPORT_MESH_HAS_RGBA_COLOR;
+				
+				meshData.m_specularColor[0] = shape.material.specular[0];
+				meshData.m_specularColor[1] = shape.material.specular[1];
+				meshData.m_specularColor[2] = shape.material.specular[2];
+				meshData.m_specularColor[3] = 1;
+				meshData.m_flags |= B3_IMPORT_MESH_HAS_SPECULAR_COLOR;
+				
 				if (shape.material.diffuse_texname.length() > 0)
 				{
 					int width, height, n;
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
@@ -3,6 +3,12 @@

 #include <string>

+enum b3ImportMeshDataFlags
+{
+	B3_IMPORT_MESH_HAS_RGBA_COLOR=1,
+	B3_IMPORT_MESH_HAS_SPECULAR_COLOR=2,
+};
+
 struct b3ImportMeshData
 {
 	struct GLInstanceGraphicsShape* m_gfxShape;
@@ -11,6 +17,20 @@ struct b3ImportMeshData
 	bool m_isCached;
 	int m_textureWidth;
 	int m_textureHeight;
+	double m_rgbaColor[4];
+	double m_specularColor[4];
+	int m_flags;
+
+	b3ImportMeshData()
+		:m_gfxShape(0),
+		m_textureImage1(0),
+		m_isCached(false),
+		m_textureWidth(0),
+		m_textureHeight(0),
+		m_flags(0)
+	{
+	}
+
 };

 class b3ImportMeshUtility
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -228,24 +228,36 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
 	}
 	else
 	{
+
 		char path[1024];
 		fu.extractPath(relativeFileName, path, sizeof(path));
 		m_data->setSourceFile(relativeFileName, path);

-		std::fstream xml_file(relativeFileName, std::fstream::in);
-		while (xml_file.good())
+		//read file
+		int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
+		
+		char destBuffer[8192];
+		char* line = 0;
+		do 
 		{
-			std::string line;
-			std::getline(xml_file, line);
-			xml_string += (line + "\n");
+			line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
+			if (line)
+			{
+				xml_string += (std::string(destBuffer) + "\n");
+			}
 		}
-		xml_file.close();
+		while (line);
+		m_data->m_fileIO->fileClose(fileId);
 	}

 	BulletErrorLogger loggie;
 	//todo: quick test to see if we can re-use the URDF parser for SDF or not
 	m_data->m_urdfParser.setParseSDF(true);
-	bool result = m_data->m_urdfParser.loadSDF(xml_string.c_str(), &loggie);
+	bool result = false;
+	if (xml_string.length())
+	{
+		result = m_data->m_urdfParser.loadSDF(xml_string.c_str(), &loggie);
+	}

 	return result;
 }
@@ -861,7 +873,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 	return shape;
 }

-void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<BulletURDFTexture>& texturesOut) const
+void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const
 {
 	BT_PROFILE("convertURDFToVisualShapeInternal");

@@ -920,7 +932,7 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 			{
 				case UrdfGeometry::FILE_OBJ:
 				{
-					b3ImportMeshData meshData;
+					
 					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
 					{
 						if (meshData.m_textureImage1)
@@ -1150,16 +1162,49 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 			btTransform childTrans = vis.m_linkLocalFrame;
 			btHashString matName(vis.m_materialName.c_str());
 			UrdfMaterial* const* matPtr = model.m_materials[matName];
-			if (matPtr)
+			b3ImportMeshData meshData;
+
+			convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures,meshData);
+
+			if (m_data->m_flags&CUF_USE_MATERIAL_COLORS_FROM_MTL)
 			{
-				UrdfMaterial* const mat = *matPtr;
-				//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
-				UrdfMaterialColor matCol;
-				matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
-				matCol.m_specularColor = mat->m_matColor.m_specularColor;
-				m_data->m_linkColors.insert(linkIndex, matCol);
+				if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) &&
+						(meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR))
+				{
+					UrdfMaterialColor matCol;
+					
+					if (m_data->m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
+					{
+						matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
+									meshData.m_rgbaColor[1],
+									meshData.m_rgbaColor[2],
+									meshData.m_rgbaColor[3]);
+					} else
+					{
+						matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
+									meshData.m_rgbaColor[1],
+									meshData.m_rgbaColor[2],
+									1);
+					}
+					
+					matCol.m_specularColor.setValue(meshData.m_specularColor[0],
+						meshData.m_specularColor[1],
+						meshData.m_specularColor[2]);
+					m_data->m_linkColors.insert(linkIndex, matCol);
+				}
+			} else
+			{
+				if (matPtr)
+				{
+					UrdfMaterial* const mat = *matPtr;
+					//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
+					UrdfMaterialColor matCol;
+					matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
+					matCol.m_specularColor = mat->m_matColor.m_specularColor;
+					m_data->m_linkColors.insert(linkIndex, matCol);
+				}
 			}
-			convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures);
+			
 		}
 	}
 	if (vertices.size() && indices.size())
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -88,7 +88,7 @@ public:
 	virtual int getAllocatedTexture(int index) const;

 	virtual void setEnableTinyRenderer(bool enable);
-	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;
+	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
 };

 #endif  //BULLET_URDF_IMPORTER_H
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -32,6 +32,8 @@ enum ConvertURDFFlags
 	CUF_INITIALIZE_SAT_FEATURES = 4096,
 	CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 	CUF_PARSE_SENSORS = 16384,
+	CUF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
+	CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 64738,
 };

 struct UrdfVisualShapeCache
--- a/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h
+++ b/examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h
@@ -74,16 +74,8 @@ static bool UrdfFindMeshFile(

 	std::string existing_file;

-	{
-		std::string attempt = fn;
-		int f = fileIO->fileOpen(attempt.c_str(), "rb");
-		if (f>=0)
-		{
-			existing_file = attempt;
-			fileIO->fileClose(f);
-		}
-	}
-	if (existing_file.empty())
+	
+	
 	{
 		for (std::list<std::string>::iterator x = shorter.begin(); x != shorter.end(); ++x)
 		{
@@ -100,6 +92,16 @@ static bool UrdfFindMeshFile(
 			break;
 		}
 	}
+	if (existing_file.empty())
+	{
+		std::string attempt = fn;
+		int f = fileIO->fileOpen(attempt.c_str(), "rb");
+		if (f>=0)
+		{
+			existing_file = attempt;
+			fileIO->fileClose(f);
+		}
+	}

 	if (existing_file.empty())
 	{
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -9,7 +9,7 @@
 #include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"

 #include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
-
+#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
 #include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
 #include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
@@ -2016,11 +2016,13 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 	const b3CreateMultiBodyArgs& m_createBodyArgs;
 	mutable b3AlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 	PhysicsServerCommandProcessorInternalData* m_data;
+	int m_flags;

-	ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data)
+	ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data, int flags)
 		: m_bodyUniqueId(-1),
 		  m_createBodyArgs(bodyArgs),
-		  m_data(data)
+		  m_data(data),
+		  m_flags(flags)
 	{
 	}

@@ -2068,19 +2070,38 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		return false;
 	}

+	mutable btHashMap<btHashInt, UrdfMaterialColor> m_linkColors;
+
 	virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
 	{
-		if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] >= 0)
+
+		if (m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL)
 		{
-			const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
-			if (visHandle)
+			const UrdfMaterialColor* matColPtr = m_linkColors[linkIndex];
+			if (matColPtr)
 			{
-				for (int i = 0; i < visHandle->m_visualShapes.size(); i++)
+				matCol = *matColPtr;
+				if ((m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)==0)
 				{
-					if (visHandle->m_visualShapes[i].m_geometry.m_hasLocalMaterial)
+					matCol.m_rgbaColor[3] = 1;
+				}
+
+				return true;
+			}
+		} else
+		{
+			if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] >= 0)
+			{
+				const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
+				if (visHandle)
+				{
+					for (int i = 0; i < visHandle->m_visualShapes.size(); i++)
 					{
-						matCol = visHandle->m_visualShapes[i].m_geometry.m_localMaterial.m_matColor;
-						return true;
+						if (visHandle->m_visualShapes[i].m_geometry.m_hasLocalMaterial)
+						{
+							matCol = visHandle->m_visualShapes[i].m_geometry.m_localMaterial.m_matColor;
+							return true;
+						}
 					}
 				}
 			}
@@ -2274,7 +2295,21 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 				{
 					for (int v = 0; v < visHandle->m_visualShapes.size(); v++)
 					{
-						u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse() * visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures);
+						b3ImportMeshData meshData;
+						u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse() * visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures, meshData);
+						if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) &&
+						(meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR))
+						{
+							UrdfMaterialColor matCol;
+							matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
+								meshData.m_rgbaColor[1],
+								meshData.m_rgbaColor[2],
+								meshData.m_rgbaColor[3]);
+							matCol.m_specularColor.setValue(meshData.m_specularColor[0],
+								meshData.m_specularColor[1],
+								meshData.m_specularColor[2]);
+							m_linkColors.insert(linkIndex, matCol);
+						}
 					}

 					if (vertices.size() && indices.size())
@@ -4462,6 +4497,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
 			}
 			else
 			{
+				visualShape.m_geometry.m_localMaterial.m_matColor.m_rgbaColor.setValue(1,1,1,1);
 			}
 			if (hasSpecular)
 			{
@@ -6641,7 +6677,14 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
 	{
 		m_data->m_sdfRecentLoadedBodies.clear();

-		ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
+		int flags = 0;
+
+		if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
+		{
+			flags = clientCmd.m_createMultiBodyArgs.m_flags;
+		}
+
+		ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data, flags);

 		bool useMultiBody = true;
 		if (clientCmd.m_updateFlags & MULT_BODY_USE_MAXIMAL_COORDINATES)
@@ -6649,12 +6692,7 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
 			useMultiBody = false;
 		}

-		int flags = 0;
-
-		if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
-		{
-			flags = clientCmd.m_createMultiBodyArgs.m_flags;
-		}
+		

 		bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);

--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -819,6 +819,8 @@ enum eURDF_Flags
 	URDF_INITIALIZE_SAT_FEATURES = 4096,
 	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 	URDF_PARSE_SENSORS = 16384,
+	URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
+	URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 64738,
 };

 enum eUrdfGeomTypes  //sync with UrdfParser UrdfGeomTypes
--- a/examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
+++ b/examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
@@ -6,7 +6,7 @@
 #include <stdio.h>
 #include "../../../CommonInterfaces/CommonFileIOInterface.h"
 #include "../../../Utils/b3ResourcePath.h"
-
+#include "Bullet3Common/b3HashMap.h"

 #ifndef B3_EXCLUDE_DEFAULT_FILEIO
 #include "../../../Utils/b3BulletDefaultFileIO.h"
@@ -30,13 +30,258 @@ struct WrapperFileHandle
 	int m_childFileHandle;
 };

+struct InMemoryFile
+{
+	char* m_buffer;
+	int m_fileSize;
+};
+
+struct InMemoryFileAccessor
+{
+	InMemoryFile* m_file;
+	int m_curPos;
+};
+
+struct InMemoryFileIO : public CommonFileIOInterface
+{
+	b3HashMap<b3HashString,InMemoryFile*> m_fileCache;
+	InMemoryFileAccessor m_fileHandles[B3_MAX_FILEIO_INTERFACES];
+
+	InMemoryFileIO()
+	{
+		for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
+		{
+			m_fileHandles[i].m_curPos = 0;
+			m_fileHandles[i].m_file = 0;
+		}
+	}
+
+	virtual ~InMemoryFileIO()
+	{
+		clearCache();
+	}
+
+	void clearCache()
+	{
+		for (int i=0;i<m_fileCache.size();i++)
+		{
+			InMemoryFile** memPtr = m_fileCache.getAtIndex(i);
+			if (memPtr && *memPtr)
+			{
+				InMemoryFile* mem = *memPtr;
+				freeBuffer(mem->m_buffer);
+				delete (mem);
+			}
+		}
+	}
+
+	char* allocateBuffer(int len)
+	{
+		char* buffer = 0;
+		if (len)
+		{
+			buffer = new char[len];
+		}
+		return buffer;
+	}
+
+	void freeBuffer(char* buffer)
+	{
+		delete[] buffer;
+	}
+
+	virtual int registerFile(const char* fileName, char* buffer, int len)
+	{
+		InMemoryFile* f = new InMemoryFile();
+		f->m_buffer = buffer;
+		f->m_fileSize = len;
+		b3HashString key(fileName);
+		m_fileCache.insert(key,f);
+		return 0;
+	}
+
+	void removeFileFromCache(const char* fileName)
+	{
+		InMemoryFile* f = getInMemoryFile(fileName);
+		if (f)
+		{
+			m_fileCache.remove(fileName);
+			freeBuffer(f->m_buffer);
+			delete (f);
+		}
+	}
+
+	InMemoryFile* getInMemoryFile(const char* fileName)
+	{
+		InMemoryFile** fPtr = m_fileCache[fileName];
+		if (fPtr && *fPtr)
+		{
+			return *fPtr;
+		}
+		return 0;
+	}
+
+	virtual int fileOpen(const char* fileName, const char* mode)
+	{
+		//search a free slot
+		int slot = -1;
+		for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
+		{
+			if (m_fileHandles[i].m_file==0)
+			{
+				slot=i;
+				break;
+			}
+		}
+		if (slot>=0)
+		{
+			InMemoryFile* f = getInMemoryFile(fileName);
+			if (f)
+			{
+				m_fileHandles[slot].m_curPos = 0;
+				m_fileHandles[slot].m_file = f;
+			} else
+			{
+				slot=-1;
+			}
+		}
+		//printf("InMemoryFileIO fileOpen %s, %d\n", fileName, slot);
+		return slot;
+	}
+	virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)
+	{
+		if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
+		{
+			InMemoryFileAccessor& f = m_fileHandles[fileHandle];
+			if (f.m_file)
+			{
+				//if (numBytes>1)
+				//	printf("curPos = %d\n", f.m_curPos);
+				if (f.m_curPos+numBytes <= f.m_file->m_fileSize)
+				{
+					memcpy(destBuffer,f.m_file->m_buffer+f.m_curPos,numBytes);
+					f.m_curPos+=numBytes;
+					//if (numBytes>1)
+					//	printf("read %d bytes, now curPos = %d\n", numBytes, f.m_curPos);
+					return numBytes;
+				} else
+				{
+					if (numBytes!=1)
+					{
+						printf("InMemoryFileIO::fileRead Attempt to read beyond end of file\n");
+					}
+				}
+				
+			}
+		}
+		return 0;
+	}
+
+	virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)
+	{
+		return 0;
+	}
+	virtual void fileClose(int fileHandle)
+	{
+		if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
+		{
+			InMemoryFileAccessor& f = m_fileHandles[fileHandle];
+			if (f.m_file)
+			{
+				m_fileHandles[fileHandle].m_file = 0;
+				m_fileHandles[fileHandle].m_curPos = 0;
+				//printf("InMemoryFileIO fileClose %d\n", fileHandle);
+			}
+		}
+	}
+	virtual bool findResourcePath(const char* fileName,  char* resourcePathOut, int resourcePathMaxNumBytes)
+	{
+		InMemoryFile* f = getInMemoryFile(fileName);
+		int fileNameLen = strlen(fileName);
+		if (f && fileNameLen<(resourcePathMaxNumBytes-1))
+		{
+			memcpy(resourcePathOut, fileName, fileNameLen);
+			resourcePathOut[fileNameLen]=0;
+			return true;
+		} 
+		return false;
+	}
+	virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)
+	{
+		int numRead = 0;
+		int endOfFile = 0;
+		if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES )
+		{
+			InMemoryFileAccessor& f = m_fileHandles[fileHandle];
+			if (f.m_file)
+			{
+				//return ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
+				char c = 0;
+				do
+				{
+					int bytesRead = fileRead(fileHandle,&c,1);
+					if (bytesRead != 1)
+					{
+						endOfFile = 1;
+						c=0;
+					}
+					if (c && c!='\n')
+					{
+						char a='\r';
+						if (c!=13)
+						{
+							destBuffer[numRead++]=c;
+						} else
+						{
+							destBuffer[numRead++]=0;
+						}
+					}
+				} while (c != 0 && c != '\n' && numRead<(numBytes-1));
+			}
+		}
+		if (numRead==0 && endOfFile)
+		{
+			return 0;
+		}
+
+		if (numRead<numBytes)
+		{
+			if (numRead >=0)
+			{
+				destBuffer[numRead]=0;
+			}
+			return &destBuffer[0];
+		} else
+		{
+			if (endOfFile==0)
+			{
+				printf("InMemoryFileIO::readLine readLine warning: numRead=%d, numBytes=%d\n", numRead, numBytes);
+			}
+		}
+		return 0;
+	}
+	virtual int getFileSize(int fileHandle)
+	{
+		if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES )
+		{
+			
+			InMemoryFileAccessor& f = m_fileHandles[fileHandle];
+			if (f.m_file)
+			{
+				return f.m_file->m_fileSize;
+			}
+		}
+		return 0;
+	}
+};
+
 struct WrapperFileIO : public CommonFileIOInterface
 {
 	CommonFileIOInterface* m_availableFileIOInterfaces[B3_MAX_FILEIO_INTERFACES];
 	int m_numWrapperInterfaces;

 	WrapperFileHandle m_wrapperFileHandles[B3_MAX_FILEIO_INTERFACES];
-	
+	InMemoryFileIO m_cachedFiles;

 	WrapperFileIO()
 		:m_numWrapperInterfaces(0)
@@ -47,6 +292,7 @@ struct WrapperFileIO : public CommonFileIOInterface
 			m_wrapperFileHandles[i].childFileIO=0;
 			m_wrapperFileHandles[i].m_childFileHandle=0;
 		}
+		//addFileIOInterface(&m_cachedFiles);
 	}

 	virtual ~WrapperFileIO()
@@ -86,6 +332,7 @@ struct WrapperFileIO : public CommonFileIOInterface

 	virtual int fileOpen(const char* fileName, const char* mode)
 	{
+		
 		//find an available wrapperFileHandle slot
 		int wrapperFileHandle=-1;
 		int slot = -1;
@@ -99,20 +346,76 @@ struct WrapperFileIO : public CommonFileIOInterface
 		}
 		if (slot>=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++)
+			//first check the cache
+			int childHandle = m_cachedFiles.fileOpen(fileName, mode);
+			if (childHandle<0)
 			{
-				CommonFileIOInterface* childFileIO=m_availableFileIOInterfaces[i];
-				if (childFileIO)
+				for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
 				{
-					int childHandle = childFileIO->fileOpen(fileName, mode);
-					if (childHandle>=0)
+					CommonFileIOInterface* childFileIO=m_availableFileIOInterfaces[i];
+					if (childFileIO)
 					{
-						wrapperFileHandle = slot;
-						m_wrapperFileHandles[slot].childFileIO = childFileIO;
-						m_wrapperFileHandles[slot].m_childFileHandle = childHandle;
-						break;
+						int childHandle = childFileIO->fileOpen(fileName, mode);
+						if (childHandle>=0)
+						{
+							int fileSize = childFileIO->getFileSize(childHandle);
+							char* buffer = 0;
+							if (fileSize)
+							{
+								buffer = m_cachedFiles.allocateBuffer(fileSize);
+								if (buffer)
+								{
+									int readBytes = childFileIO->fileRead(childHandle, buffer, fileSize);
+									if (readBytes!=fileSize)
+									{
+										if (readBytes<fileSize)
+										{
+											fileSize = readBytes;
+										} else
+										{
+											printf("WrapperFileIO error: reading more bytes (%d) then reported file size (%d) of file %s.\n", readBytes, fileSize, fileName);
+										}
+									}
+								} else
+								{
+									fileSize=0;
+								}
+							}
+
+							//potentially register a zero byte file, or files that only can be read partially
+							m_cachedFiles.registerFile(fileName,buffer, fileSize);
+							childFileIO->fileClose(childHandle);
+							break;
+						}
+					}
+				}
+			}
+			
+			{
+				int childHandle = m_cachedFiles.fileOpen(fileName, mode);
+				if (childHandle>=0)
+				{
+					wrapperFileHandle = slot;
+					m_wrapperFileHandles[slot].childFileIO = &m_cachedFiles;
+					m_wrapperFileHandles[slot].m_childFileHandle = childHandle;
+				} else
+				{
+					//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)
+							{
+								wrapperFileHandle = slot;
+								m_wrapperFileHandles[slot].childFileIO = childFileIO;
+								m_wrapperFileHandles[slot].m_childFileHandle = childHandle;
+								break;
+							}
+						}
 					}
 				}
 			}
@@ -155,6 +458,9 @@ struct WrapperFileIO : public CommonFileIOInterface
 	}
 	virtual bool findResourcePath(const char* fileName,  char* resourcePathOut, int resourcePathMaxNumBytes)
 	{
+		if (m_cachedFiles.findResourcePath(fileName, resourcePathOut, resourcePathMaxNumBytes))
+			return true;
+
 		bool found = false;
 		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
 		{
@@ -273,7 +579,7 @@ B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* cont
 #ifdef B3_USE_ZIPFILE_FILEIO
 						if (arguments->m_text)
 						{
-							obj->m_fileIO.addFileIOInterface(new ZipFileIO(arguments->m_text));
+							obj->m_fileIO.addFileIOInterface(new ZipFileIO(arguments->m_text, &obj->m_fileIO));
 						}
 #else
 						printf("eZipFileIO is not enabled in this build.\n");
--- a/examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
+++ b/examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
@@ -10,7 +10,7 @@ struct ZipFileIO : public CommonFileIOInterface
 	unzFile	m_fileHandles[B3_ZIP_FILEIO_MAX_FILES ];
 	int m_numFileHandles;

-	ZipFileIO(const char* zipfileName)
+	ZipFileIO(const char* zipfileName, CommonFileIOInterface* wrapperFileIO)
 		:m_zipfileName(zipfileName),
 		m_numFileHandles(0)
 	{
@@ -37,6 +37,7 @@ struct ZipFileIO : public CommonFileIOInterface

 	virtual int fileOpen(const char* fileName, const char* mode)
 	{
+		
 		//search a free slot
 		int slot = -1;
 		for (int i=0;i<B3_ZIP_FILEIO_MAX_FILES ;i++)
@@ -58,6 +59,7 @@ struct ZipFileIO : public CommonFileIOInterface
 				slot = -1;
 			} else
 			{
+				
 				int result = 0;
 				result = unzGetGlobalInfo(zipfile, &m_global_info );
 				if (result != UNZ_OK)
@@ -66,9 +68,6 @@ struct ZipFileIO : public CommonFileIOInterface
 					unzClose(zipfile);
 					zipfile = 0;
 					slot = -1;
-				} else
-				{
-					m_fileHandles[slot] = zipfile;
 				}
 			}
 			if (slot >=0)
@@ -82,20 +81,28 @@ struct ZipFileIO : public CommonFileIOInterface
 					{
 						printf("unzGetCurrentFileInfo() != UNZ_OK (%d)\n", result);
 						slot=-1;
+						unzClose(zipfile);
+						zipfile = 0;
 					}
 					else
 					{
 						result = unzOpenCurrentFile(zipfile);
 						if (result == UNZ_OK)
 						{
+							printf("zipFile::fileOpen %s in mode %s in fileHandle %d\n", fileName, mode, slot);
+							m_fileHandles[slot] = zipfile;
 						} else
 						{
 							slot=-1;
+							unzClose(zipfile);
+							zipfile = 0;
 						}
 					}
 				} else
 				{
 					slot=-1;
+					unzClose(zipfile);
+					zipfile = 0;
 				}
 			}
 		}
@@ -137,6 +144,7 @@ struct ZipFileIO : public CommonFileIOInterface
 			unzFile f = m_fileHandles[fileHandle];
 			if (f)
 			{
+				printf("zipFile::fileClose slot %d\n", fileHandle);
 				unzClose(f);
 				m_fileHandles[fileHandle]=0;
 			}
--- a/examples/Utils/b3BulletDefaultFileIO.h
+++ b/examples/Utils/b3BulletDefaultFileIO.h
@@ -149,7 +149,14 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
 			if (f)
 			{
 				char* txt = ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
-				destBuffer[strcspn(destBuffer, "\r\n")] = 0;
+				for (int i=0;i<numBytes;i++)
+				{
+					if (destBuffer[i]=='\r'||destBuffer[i]=='\n' || destBuffer[i]==0)
+					{
+						destBuffer[i] = 0;
+						break;
+					}
+				}
 				return txt;
 			}
 		}
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9850,7 +9850,9 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
 	PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
 	PyModule_AddIntConstant(m, "URDF_INITIALIZE_SAT_FEATURES", URDF_INITIALIZE_SAT_FEATURES);
-
+	PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_COLORS_FROM_MTL", URDF_USE_MATERIAL_COLORS_FROM_MTL);
+	PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL);
+	
 	PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
 	PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
 	PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);