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First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface.

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A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
This commit is contained in:
erwincoumans
2018-10-08 21:27:08 -07:00
parent a1543714f1
commit dba239fe8d
49 changed files with 1211 additions and 322 deletions
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5
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
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@@ -11,7 +11,7 @@
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../../examples/Utils/b3BulletDefaultFileIO.h"
/// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example
class MyBtMultiBodyFromURDF
@@ -48,7 +48,8 @@ public:
{
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
BulletURDFImporter urdf_importer(&m_nogfx, 0, 1, 0);
b3BulletDefaultFileIO fileIO;
BulletURDFImporter urdf_importer(&m_nogfx, 0, &fileIO, 1, 0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);

7
Extras/obj2sdf/obj2sdf.cpp
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@@ -14,6 +14,7 @@
#include "../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/b3BulletDefaultFileIO.h"
struct ShapeContainer
{
@@ -71,12 +72,14 @@ int main(int argc, char* argv[])
bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
char fileNameWithPath[MAX_PATH_LEN];
bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN)) > 0;
bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN,0)) > 0;
char materialPrefixPath[MAX_PATH_LEN];
b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath);
b3BulletDefaultFileIO fileIO;
std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath,&fileIO);
char sdfFileName[MAX_PATH_LEN];
sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");