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Implement InMemoryFile for memory caching for fileIO plugin.

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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
This commit is contained in:
erwincoumans
2018-10-14 12:54:34 -07:00
parent 3309ce8f6a
commit c1e20c448f
12 changed files with 511 additions and 66 deletions
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334
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
View File

@@ -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");

16
examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
View File

@@ -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;
}