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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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16
examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h
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@@ -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;
}