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

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.

examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp

@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include "LoadMeshFromCollada.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include "../../Utils/b3ResourcePath.h"
-
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 
 class ImportColladaSetup : public CommonRigidBodyBase
@@ -79,7 +79,7 @@ void ImportColladaSetup::initPhysics()
 
 	char relativeFileName[1024];
 
-	if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+	if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024,0))
 		return;
 
 	btVector3 shift(0, 0, 0);
@@ -94,7 +94,7 @@ void ImportColladaSetup::initPhysics()
 		btTransform upAxisTrans;
 		upAxisTrans.setIdentity();
 
-		btVector3 color(0, 0, 1);
+		btVector4 color(0, 0, 1,1);
 
 #ifdef COMPARE_WITH_ASSIMP
 		static int useAssimp = 0;
@@ -119,7 +119,8 @@ void ImportColladaSetup::initPhysics()
 		{
 			fileIndex = 0;
 		}
-		LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, upAxis);
+		b3BulletDefaultFileIO fileIO;
+		LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, upAxis,&fileIO);
 #endif  // COMPARE_WITH_ASSIMP
 
 		//at the moment our graphics engine requires instances that share the same visual shape to be added right after registering the shape

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -22,10 +22,11 @@ subject to the following restrictions:
 #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
 using namespace tinyxml2;
 
-#include "Bullet3Common/b3FileUtils.h"
+
 #include "LinearMath/btHashMap.h"
 #include <assert.h>
 #include "btMatrix4x4.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 #define MAX_VISUAL_SHAPES 512
 
@@ -561,7 +562,7 @@ void getUnitMeterScalingAndUpAxisTransform(XMLDocument& doc, btTransform& tr, fl
 	}
 }
 
-void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling, int clientUpAxis)
+void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling, int clientUpAxis, struct CommonFileIOInterface* fileIO)
 {
 	//	GLInstanceGraphicsShape* instance = 0;
 
@@ -570,16 +571,32 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
 
 	float extraScaling = 1;  //0.01;
 	btHashMap<btHashString, int> name2ShapeIndex;
-	b3FileUtils f;
+	
 	char filename[1024];
-	if (!f.findFile(relativeFileName, filename, 1024))
+	if (!fileIO->findResourcePath(relativeFileName, filename, 1024))
 	{
 		b3Warning("File not found: %s\n", filename);
 		return;
 	}
 
 	XMLDocument doc;
-	if (doc.LoadFile(filename) != XML_SUCCESS)
+	//doc.Parse((const char*)filedata, 0, TIXML_ENCODING_UTF8);
+	b3AlignedObjectArray<char> xmlString;
+	int fileHandle = fileIO->fileOpen(filename,"r");
+	if (fileHandle>=0)
+	{
+		int size = fileIO->getFileSize(fileHandle);
+		xmlString.resize(size);
+		int actual = fileIO->fileRead(fileHandle, &xmlString[0],size);
+		if (actual==size)
+		{
+		}
+	}
+	if (xmlString.size()==0)
+		return;
+
+	if (doc.Parse(&xmlString[0], xmlString.size()) != XML_SUCCESS)
+	//if (doc.LoadFile(filename) != XML_SUCCESS)
 		return;
 
 	//We need units to be in meter, so apply a scaling using the asset/units meter

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h

@@ -28,7 +28,8 @@ void LoadMeshFromCollada(const char* relativeFileName,
 						 btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,
 						 btTransform& upAxisTrans,
 						 float& unitMeterScaling,
-						 int clientUpAxis);
+						 int clientUpAxis,
+						 struct CommonFileIOInterface* fileIO);
 
 //#define COMPARE_WITH_ASSIMP
 #ifdef COMPARE_WITH_ASSIMP

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -6,6 +6,8 @@
 #include "BulletCollision/CollisionShapes/btShapeHull.h"
 #include "../../CommonInterfaces/CommonRenderInterface.h"
 #include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
+#include "../ImportURDFDemo/UrdfFindMeshFile.h"
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
 #include <iostream>
@@ -32,6 +34,7 @@
 #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleMesh.h"
+
 using namespace tinyxml2;
 
 #define mjcf_sphere_indiced textured_detailed_sphere_indices
@@ -203,13 +206,16 @@ struct BulletMJCFImporterInternalData
 
 	int m_flags;
 	int m_textureId;
+	
+	CommonFileIOInterface* m_fileIO;
 
 	BulletMJCFImporterInternalData()
 		: m_inertiaFromGeom(true),
 		  m_activeModel(-1),
 		  m_activeBodyUniqueId(-1),
 		  m_flags(0),
-		  m_textureId(-1)
+		  m_textureId(-1),
+		  m_fileIO(0)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -887,7 +893,7 @@ struct BulletMJCFImporterInternalData
 					{
 						geom.m_type = URDF_GEOM_MESH;
 						geom.m_meshFileName = assetPtr->m_fileName;
-						bool exists = findExistingMeshFile(
+						bool exists = UrdfFindMeshFile(m_fileIO,
 							m_sourceFileName, assetPtr->m_fileName, sourceFileLocation(link_xml),
 							&geom.m_meshFileName,
 							&geom.m_meshFileType);
@@ -1408,13 +1414,14 @@ struct BulletMJCFImporterInternalData
 	}
 };
 
-BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags)
+BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, CommonFileIOInterface* fileIO, int flags)
 {
 	m_data = new BulletMJCFImporterInternalData();
 	m_data->m_guiHelper = helper;
 	m_data->m_customVisualShapesConverter = customConverter;
 	m_data->m_flags = flags;
 	m_data->m_textureId = -1;
+	m_data->m_fileIO = fileIO;
 }
 
 BulletMJCFImporter::~BulletMJCFImporter()
@@ -1433,7 +1440,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024) > 0);
+	bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0);
 	m_data->m_sourceFileName = relativeFileName;
 
 	std::string xml_string;
@@ -1962,7 +1969,7 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 				case UrdfGeometry::FILE_OBJ:
 				{
 					b3ImportMeshData meshData;
-					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
 					{
 						if (meshData.m_textureImage1)
 						{
@@ -1980,7 +1987,7 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 
 				case UrdfGeometry::FILE_STL:
 				{
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 					break;
 				}
 
@@ -1998,7 +2005,8 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 										visualShapeInstances,
 										upAxisTrans,
 										unitMeterScaling,
-										upAxis);
+										upAxis,
+										m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					//		int index = 0;
@@ -2243,7 +2251,7 @@ void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 	if (m_data->m_customVisualShapesConverter)
 	{
 		const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
-		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex);
+		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex, m_data->m_fileIO);
 	}
 }
 
@@ -2379,12 +2387,12 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 						{
 							if (col->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
 							{
-								glmesh = LoadMeshFromObj(col->m_geometry.m_meshFileName.c_str(), 0);
+								glmesh = LoadMeshFromObj(col->m_geometry.m_meshFileName.c_str(), 0,m_data->m_fileIO);
 							}
 							else
 							{
 								std::vector<tinyobj::shape_t> shapes;
-								std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str());
+								std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
 								//create a convex hull for each shape, and store it in a btCompoundShape
 
 								childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
@@ -2393,7 +2401,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 						}
 						case UrdfGeometry::FILE_STL:
 						{
-							glmesh = LoadMeshFromSTL(col->m_geometry.m_meshFileName.c_str());
+							glmesh = LoadMeshFromSTL(col->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 							break;
 						}
 						default:

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -27,7 +27,7 @@ class BulletMJCFImporter : public URDFImporterInterface
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
 
 public:
-	BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
+	BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter,  struct CommonFileIOInterface* fileIO, int flags);
 	virtual ~BulletMJCFImporter();
 
 	virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -10,7 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../../Utils/b3ResourcePath.h"
-
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 
 #include "../ImportURDFDemo/MyMultiBodyCreator.h"
@@ -200,7 +200,8 @@ void ImportMJCFSetup::initPhysics()
 	}
 
 	int flags = 0;
-	BulletMJCFImporter importer(m_guiHelper, 0, flags);
+	b3BulletDefaultFileIO fileIO;
+	BulletMJCFImporter importer(m_guiHelper, 0, &fileIO, flags);
 	MyMJCFLogger logger;
 	bool result = importer.loadMJCF(m_fileName, &logger);
 	if (result)

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -9,6 +9,7 @@
 #include "stb_image/stb_image.h"
 #include "../ImportObjDemo/LoadMeshFromObj.h"
 #include "Bullet3Common/b3HashMap.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 struct CachedTextureResult
 {
@@ -45,7 +46,7 @@ struct CachedTextureManager
 };
 static CachedTextureManager sTexCacheMgr;
 
-bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
+bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("loadAndRegisterMeshFromFileInternal");
 	meshData.m_gfxShape = 0;
@@ -55,7 +56,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 	meshData.m_isCached = false;
 
 	char relativeFileName[1024];
-	if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+	if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
 	{
 		char pathPrefix[1024];
 
@@ -65,7 +66,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		std::vector<tinyobj::shape_t> shapes;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
-			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix);
+			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix,fileIO);
 			//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		}
 
@@ -91,7 +92,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 						char relativeFileName[1024];
 						sprintf(relativeFileName, "%s%s", prefix[i], filename);
 						char relativeFileName2[1024];
-						if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
+						if (fileIO->findResourcePath(relativeFileName, relativeFileName2, 1024))
 						{
 							if (b3IsFileCachingEnabled())
 							{
@@ -110,7 +111,30 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 
 							if (image == 0)
 							{
-								image = stbi_load(relativeFileName, &width, &height, &n, 3);
+
+								b3AlignedObjectArray<char> buffer;
+								buffer.reserve(1024);
+								int fileId = fileIO->fileOpen(relativeFileName,"rb");
+								if (fileId>=0)
+								{
+									int size = fileIO->getFileSize(fileId);
+									if (size>0)
+									{
+										buffer.resize(size);
+										int actual = fileIO->fileRead(fileId,&buffer[0],size);
+										if (actual != size)
+										{
+											b3Warning("STL filesize mismatch!\n");
+											buffer.resize(0);
+										}
+									}
+								}
+
+								if (buffer.size())
+								{
+									image = stbi_load_from_memory((const unsigned char*)&buffer[0], buffer.size(), &width, &height, &n, 3);
+								}
+								//image = stbi_load(relativeFileName, &width, &height, &n, 3);
 
 								meshData.m_textureImage1 = image;
 

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h

@@ -16,7 +16,7 @@ struct b3ImportMeshData
 class b3ImportMeshUtility
 {
 public:
-	static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
+	static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData, struct CommonFileIOInterface* fileIO);
 };
 
 #endif  //B3_IMPORT_MESH_UTILITY_H

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -7,6 +7,7 @@
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "Wavefront2GLInstanceGraphicsShape.h"
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "Bullet3Common/b3FileUtils.h"
 
 #include "stb_image/stb_image.h"
@@ -56,7 +57,8 @@ int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterf
 	int shapeId = -1;
 
 	b3ImportMeshData meshData;
-	if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+	b3BulletDefaultFileIO fileIO;
+	if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
 	{
 		int textureIndex = -1;
 
@@ -94,7 +96,7 @@ void ImportObjSetup::initPhysics()
 	btQuaternion orn = trans.getRotation();
 
 	btVector3 scaling(1, 1, 1);
-	btVector3 color(1, 1, 1);
+	btVector4 color(1, 1, 1,1);
 
 	int shapeId = loadAndRegisterMeshFromFile2(m_fileName, m_guiHelper->getRenderInterface());
 	if (shapeId >= 0)

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

@@ -33,7 +33,9 @@ void b3EnableFileCaching(int enable)
 std::string LoadFromCachedOrFromObj(
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
-	const char* mtl_basepath)
+	const char* mtl_basepath,
+	struct CommonFileIOInterface* fileIO
+	)
 {
 	CachedObjResult* resultPtr = gCachedObjResults[filename];
 	if (resultPtr)
@@ -43,7 +45,7 @@ std::string LoadFromCachedOrFromObj(
 		return result.m_msg;
 	}
 
-	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath);
+	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath,fileIO);
 	CachedObjResult result;
 	result.m_msg = err;
 	result.m_shapes = shapes;
@@ -54,13 +56,13 @@ std::string LoadFromCachedOrFromObj(
 	return err;
 }
 
-GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
+GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("LoadMeshFromObj");
 	std::vector<tinyobj::shape_t> shapes;
 	{
 		B3_PROFILE("tinyobj::LoadObj2");
-		std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath);
+		std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath,fileIO);
 	}
 
 	{

examples/Importers/ImportObjDemo/LoadMeshFromObj.h

@@ -8,11 +8,13 @@ struct GLInstanceGraphicsShape;
 int b3IsFileCachingEnabled();
 void b3EnableFileCaching(int enable);
 
+
 std::string LoadFromCachedOrFromObj(
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
-	const char* mtl_basepath);
+	const char* mtl_basepath,
+	struct CommonFileIOInterface* fileIO);
 
-GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);
+GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath,struct CommonFileIOInterface* fileIO);
 
 #endif  //LOAD_MESH_FROM_OBJ_H

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -162,7 +162,7 @@ void ImportSDFSetup::initPhysics()
 
 	m_dynamicsWorld->setGravity(gravity);
 
-	BulletURDFImporter u2b(m_guiHelper, 0, 1, 0);
+	BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
 
 	bool loadOk = u2b.loadSDF(m_fileName);
 

examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp

@@ -7,6 +7,7 @@
 #include "LoadMeshFromSTL.h"
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
 
 class ImportSTLSetup : public CommonRigidBodyBase
 {
@@ -55,7 +56,7 @@ void ImportSTLSetup::initPhysics()
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
 
 	char relativeFileName[1024];
-	if (!b3ResourcePath::findResourcePath(m_fileName, relativeFileName, 1024))
+	if (!b3ResourcePath::findResourcePath(m_fileName, relativeFileName, 1024,0))
 	{
 		b3Warning("Cannot find file %s\n", m_fileName);
 		return;
@@ -65,7 +66,8 @@ void ImportSTLSetup::initPhysics()
 	//	int index=10;
 
 	{
-		GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName);
+		b3BulletDefaultFileIO fileIO;
+		GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName,&fileIO);
 
 		btTransform trans;
 		trans.setIdentity();
@@ -74,7 +76,7 @@ void ImportSTLSetup::initPhysics()
 		btVector3 position = trans.getOrigin();
 		btQuaternion orn = trans.getRotation();
 
-		btVector3 color(0, 0, 1);
+		btVector4 color(0, 0, 1,1);
 
 		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -5,6 +5,7 @@
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include <stdio.h>  //fopen
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 struct MySTLTriangle
 {
@@ -14,25 +15,21 @@ struct MySTLTriangle
 	float vertex2[3];
 };
 
-static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
+static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName, struct CommonFileIOInterface* fileIO)
 {
 	GLInstanceGraphicsShape* shape = 0;
 
-	FILE* file = fopen(relativeFileName, "rb");
-	if (file)
+	int fileHandle = fileIO->fileOpen(relativeFileName, "rb");
+	if (fileHandle>=0)
 	{
 		int size = 0;
-		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
+		size = fileIO->getFileSize(fileHandle);
 		{
-			b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName);
-		}
-		else
-		{
-			if (size)
+			if (size>=0)
 			{
 				//b3Warning("Open STL file of %d bytes\n",size);
 				char* memoryBuffer = new char[size + 1];
-				int actualBytesRead = fread(memoryBuffer, 1, size, file);
+				int actualBytesRead = fileIO->fileRead(fileHandle, memoryBuffer, size);
 				if (actualBytesRead != size)
 				{
 					b3Warning("Error reading from file %s", relativeFileName);
@@ -97,7 +94,7 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 				delete[] memoryBuffer;
 			}
 		}
-		fclose(file);
+		fileIO->fileClose(fileHandle);
 	}
 	if (shape)
 	{

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -22,9 +22,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btShapeHull.h"  //to create a tesselation of a generic btConvexShape
 #include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
 #include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
+
+
+
 #include "URDF2Bullet.h"  //for flags
 #include "../ImportMeshUtility/b3ImportMeshUtility.h"
 
@@ -35,13 +40,16 @@ static btScalar gUrdfDefaultCollisionMargin = 0.001;
 #include <list>
 #include "UrdfParser.h"
 
+
+
 ATTRIBUTE_ALIGNED16(struct)
 BulletURDFInternalData
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-
+	b3BulletDefaultFileIO m_defaultFileIO;
 	UrdfParser m_urdfParser;
 	struct GUIHelperInterface* m_guiHelper;
+	struct CommonFileIOInterface* m_fileIO;
 	std::string m_sourceFile;
 	char m_pathPrefix[1024];
 	int m_bodyId;
@@ -63,7 +71,9 @@ BulletURDFInternalData
 		m_pathPrefix[sizeof(m_pathPrefix) - 1] = 0;  // required, strncpy doesn't write zero on overflow
 	}
 
-	BulletURDFInternalData()
+	BulletURDFInternalData(CommonFileIOInterface* fileIO)
+		:m_urdfParser(fileIO? fileIO : &m_defaultFileIO),
+		m_fileIO(fileIO? fileIO : &m_defaultFileIO)
 	{
 		m_enableTinyRenderer = true;
 		m_pathPrefix[0] = 0;
@@ -74,6 +84,8 @@ BulletURDFInternalData
 	{
 		m_urdfParser.setGlobalScaling(scaling);
 	}
+
+	
 };
 
 void BulletURDFImporter::printTree()
@@ -81,9 +93,12 @@ void BulletURDFImporter::printTree()
 	//	btAssert(0);
 }
 
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling, int flags)
+
+
+
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO,double globalScaling, int flags)
 {
-	m_data = new BulletURDFInternalData;
+	m_data = new BulletURDFInternalData(fileIO);
 	m_data->setGlobalScaling(globalScaling);
 	m_data->m_flags = flags;
 	m_data->m_guiHelper = helper;
@@ -128,7 +143,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024)) > 0;
+	bool fileFound = m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0;
 
 	std::string xml_string;
 
@@ -143,6 +158,23 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 		fu.extractPath(relativeFileName, path, sizeof(path));
 		m_data->setSourceFile(relativeFileName, path);
 
+		//read file
+		int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
+		
+
+		char destBuffer[8192];
+		char* line = 0;
+		do 
+		{
+			line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
+			if (line)
+			{
+				xml_string += (std::string(destBuffer) + "\n");
+			}
+		}
+		while (line);
+
+#if 0
 		std::fstream xml_file(relativeFileName, std::fstream::in);
 		while (xml_file.good())
 		{
@@ -151,6 +183,8 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 			xml_string += (line + "\n");
 		}
 		xml_file.close();
+#endif
+
 	}
 
 	BulletErrorLogger loggie;
@@ -178,7 +212,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024)) > 0;
+	bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024)) > 0;
 
 	std::string xml_string;
 
@@ -507,107 +541,7 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
 	return compound;
 }
 
-bool findExistingMeshFile(
-	const std::string& urdf_path, std::string fn,
-	const std::string& error_message_prefix,
-	std::string* out_found_filename, int* out_type)
-{
-	if (fn.size() <= 4)
-	{
-		b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
-		return false;
-	}
 
-	std::string ext;
-	std::string ext_ = fn.substr(fn.size() - 4);
-	for (std::string::iterator i = ext_.begin(); i != ext_.end(); ++i)
-	{
-		ext += char(tolower(*i));
-	}
-
-	if (ext == ".dae")
-	{
-		*out_type = UrdfGeometry::FILE_COLLADA;
-	}
-	else if (ext == ".stl")
-	{
-		*out_type = UrdfGeometry::FILE_STL;
-	}
-	else if (ext == ".obj")
-	{
-		*out_type = UrdfGeometry::FILE_OBJ;
-	}
-	else if (ext == ".cdf")
-	{
-		*out_type = UrdfGeometry::FILE_CDF;
-	}
-	else
-	{
-		b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
-		return false;
-	}
-
-	std::string drop_it_pack = "package://";
-	std::string drop_it_model = "model://";
-	if (fn.substr(0, drop_it_pack.length()) == drop_it_pack)
-		fn = fn.substr(drop_it_pack.length());
-	else if (fn.substr(0, drop_it_model.length()) == drop_it_model)
-		fn = fn.substr(drop_it_model.length());
-
-	std::list<std::string> shorter;
-	shorter.push_back("../..");
-	shorter.push_back("..");
-	shorter.push_back(".");
-	int cnt = urdf_path.size();
-	for (int i = 0; i < cnt; ++i)
-	{
-		if (urdf_path[i] == '/' || urdf_path[i] == '\\')
-		{
-			shorter.push_back(urdf_path.substr(0, i));
-		}
-	}
-	shorter.reverse();
-
-	std::string existing_file;
-
-	{
-		std::string attempt = fn;
-		FILE* f = fopen(attempt.c_str(), "rb");
-		if (f)
-		{
-			existing_file = attempt;
-			fclose(f);
-		}
-	}
-	if (existing_file.empty())
-	{
-		for (std::list<std::string>::iterator x = shorter.begin(); x != shorter.end(); ++x)
-		{
-			std::string attempt = *x + "/" + fn;
-			FILE* f = fopen(attempt.c_str(), "rb");
-			if (!f)
-			{
-				//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
-				continue;
-			}
-			fclose(f);
-			existing_file = attempt;
-			//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
-			break;
-		}
-	}
-
-	if (existing_file.empty())
-	{
-		b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
-		return false;
-	}
-	else
-	{
-		*out_found_filename = existing_file;
-		return true;
-	}
-}
 
 int BulletURDFImporter::getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const
 {
@@ -708,7 +642,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 			char relativeFileName[1024];
 			char pathPrefix[1024];
 			pathPrefix[0] = 0;
-			if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+			if (m_data->m_fileIO->findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
 			{
 				b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 
@@ -758,16 +692,16 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 						char relativeFileName[1024];
 						char pathPrefix[1024];
 						pathPrefix[0] = 0;
-						if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+						if (m_data->m_fileIO->findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
 						{
 							b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 						}
-						glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
+						glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix,m_data->m_fileIO);
 					}
 					else
 					{
 						std::vector<tinyobj::shape_t> shapes;
-						std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str());
+						std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
 						//create a convex hull for each shape, and store it in a btCompoundShape
 
 						shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
@@ -777,7 +711,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					break;
 
 				case UrdfGeometry::FILE_STL:
-					glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 					break;
 
 				case UrdfGeometry::FILE_COLLADA:
@@ -787,7 +721,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					btTransform upAxisTrans;
 					upAxisTrans.setIdentity();
 					float unitMeterScaling = 1;
-					LoadMeshFromCollada(collision->m_geometry.m_meshFileName.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2);
+					LoadMeshFromCollada(collision->m_geometry.m_meshFileName.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2, m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					glmesh->m_indices = new b3AlignedObjectArray<int>();
@@ -982,7 +916,7 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 				case UrdfGeometry::FILE_OBJ:
 				{
 					b3ImportMeshData meshData;
-					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
 					{
 						if (meshData.m_textureImage1)
 						{
@@ -1000,7 +934,7 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 
 				case UrdfGeometry::FILE_STL:
 				{
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(),m_data->m_fileIO);
 					break;
 				}
 
@@ -1018,7 +952,8 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 										visualShapeInstances,
 										upAxisTrans,
 										unitMeterScaling,
-										upAxis);
+										upAxis,
+										m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					//		int index = 0;
@@ -1326,7 +1261,7 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 		UrdfLink* const* linkPtr = model.m_links.getAtIndex(urdfIndex);
 		if (linkPtr)
 		{
-			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, m_data->m_fileIO);
 		}
 	}
 }
@@ -1403,18 +1338,18 @@ class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIn
 		{
 			const UrdfCollision& col = link->m_collisionArray[v];
 			btCollisionShape* childShape = convertURDFToCollisionShape(&col, pathPrefix);
-			m_data->m_allocatedCollisionShapes.push_back(childShape);
-			if (childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
-			{
-				btCompoundShape* compound = (btCompoundShape*)childShape;
-				for (int i = 0; i < compound->getNumChildShapes(); i++)
-				{
-					m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
-				}
-			}
-
 			if (childShape)
 			{
+				m_data->m_allocatedCollisionShapes.push_back(childShape);
+				if (childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+				{
+					btCompoundShape* compound = (btCompoundShape*)childShape;
+					for (int i = 0; i < compound->getNumChildShapes(); i++)
+					{
+						m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
+					}
+				}
+
 				btTransform childTrans = col.m_linkLocalFrame;
 
 				compoundShape->addChildShape(localInertiaFrame.inverse() * childTrans, childShape);

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -19,7 +19,7 @@ class BulletURDFImporter : public URDFImporterInterface
 	struct BulletURDFInternalData* m_data;
 
 public:
-	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling = 1, int flags = 0);
+	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO,double globalScaling, int flags);
 
 	virtual ~BulletURDFImporter();
 

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -171,7 +171,8 @@ void ImportUrdfSetup::initPhysics()
 
 	int flags = 0;
 	double globalScaling = 1;
-	BulletURDFImporter u2b(m_guiHelper, 0, globalScaling, flags);
+
+	BulletURDFImporter u2b(m_guiHelper, 0, 0, globalScaling, flags);
 
 	bool loadOk = u2b.loadURDF(m_fileName);
 

examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h

@@ -0,0 +1,116 @@
+
+#ifndef URDF_FIND_MESH_FILE_H
+#define URDF_FIND_MESH_FILE_H
+
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
+#include "Bullet3Common/b3Logging.h"
+
+#include <string>
+#include <list>
+
+#include "UrdfParser.h"
+
+static bool UrdfFindMeshFile(
+	CommonFileIOInterface* fileIO,
+	const std::string& urdf_path, std::string fn,
+	const std::string& error_message_prefix,
+	std::string* out_found_filename, int* out_type)
+{
+	if (fn.size() <= 4)
+	{
+		b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
+		return false;
+	}
+
+	std::string ext;
+	std::string ext_ = fn.substr(fn.size() - 4);
+	for (std::string::iterator i = ext_.begin(); i != ext_.end(); ++i)
+	{
+		ext += char(tolower(*i));
+	}
+
+	if (ext == ".dae")
+	{
+		*out_type = UrdfGeometry::FILE_COLLADA;
+	}
+	else if (ext == ".stl")
+	{
+		*out_type = UrdfGeometry::FILE_STL;
+	}
+	else if (ext == ".obj")
+	{
+		*out_type = UrdfGeometry::FILE_OBJ;
+	}
+	else if (ext == ".cdf")
+	{
+		*out_type = UrdfGeometry::FILE_CDF;
+	}
+	else
+	{
+		b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
+		return false;
+	}
+
+	std::string drop_it_pack = "package://";
+	std::string drop_it_model = "model://";
+	if (fn.substr(0, drop_it_pack.length()) == drop_it_pack)
+		fn = fn.substr(drop_it_pack.length());
+	else if (fn.substr(0, drop_it_model.length()) == drop_it_model)
+		fn = fn.substr(drop_it_model.length());
+
+	std::list<std::string> shorter;
+	shorter.push_back("../..");
+	shorter.push_back("..");
+	shorter.push_back(".");
+	int cnt = urdf_path.size();
+	for (int i = 0; i < cnt; ++i)
+	{
+		if (urdf_path[i] == '/' || urdf_path[i] == '\\')
+		{
+			shorter.push_back(urdf_path.substr(0, i));
+		}
+	}
+	shorter.reverse();
+
+	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)
+		{
+			std::string attempt = *x + "/" + fn;
+			int f = fileIO->fileOpen(attempt.c_str(), "rb");
+			if (f<0)
+			{
+				//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
+				continue;
+			}
+			fileIO->fileClose(f);
+			existing_file = attempt;
+			//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
+			break;
+		}
+	}
+
+	if (existing_file.empty())
+	{
+		b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
+		return false;
+	}
+	else
+	{
+		*out_found_filename = existing_file;
+		return true;
+	}
+}
+
+#endif //URDF_FIND_MESH_FILE_H

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -2,12 +2,15 @@
 #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
 #include "urdfStringSplit.h"
 #include "urdfLexicalCast.h"
+#include "UrdfFindMeshFile.h"
+
 using namespace tinyxml2;
 
-UrdfParser::UrdfParser()
+UrdfParser::UrdfParser(CommonFileIOInterface* fileIO)
 	: m_parseSDF(false),
 	  m_activeSdfModel(-1),
-	  m_urdfScaling(1)
+	  m_urdfScaling(1),
+	  m_fileIO(fileIO)
 {
 	m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING";  // if loadUrdf() called later, source file name will be replaced with real
 }
@@ -495,7 +498,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
 		}
 
 		geom.m_meshFileName = fn;
-		bool success = findExistingMeshFile(
+		bool success = UrdfFindMeshFile(m_fileIO,
 			m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
 			&geom.m_meshFileName, &geom.m_meshFileType);
 		if (!success)

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -106,9 +106,6 @@ struct UrdfGeometry
 	}
 };
 
-bool findExistingMeshFile(const std::string& urdf_path, std::string fn,
-						  const std::string& error_message_prefix,
-						  std::string* out_found_filename, int* out_type);  // intended to fill UrdfGeometry::m_meshFileName and Type, but can be used elsewhere
 
 struct UrdfShape
 {
@@ -256,6 +253,9 @@ protected:
 	int m_activeSdfModel;
 
 	btScalar m_urdfScaling;
+
+	struct CommonFileIOInterface* m_fileIO;
+
 	bool parseTransform(btTransform& tr, tinyxml2::XMLElement* xml, ErrorLogger* logger, bool parseSDF = false);
 	bool parseInertia(UrdfInertia& inertia, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseGeometry(UrdfGeometry& geom, tinyxml2::XMLElement* g, ErrorLogger* logger);
@@ -270,7 +270,7 @@ protected:
 	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
 
 public:
-	UrdfParser();
+	UrdfParser(struct CommonFileIOInterface* fileIO);
 	virtual ~UrdfParser();
 
 	void setParseSDF(bool useSDF)

examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h

@@ -15,7 +15,7 @@ struct UrdfRenderingInterface
 	virtual ~UrdfRenderingInterface() {}
 	///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
 	///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) = 0;
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
 
 	///remove a visual shapes, based on the shape unique id (shapeUid)
 	virtual void removeVisualShape(int collisionObjectUid) = 0;