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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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9
examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
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@@ -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

27
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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@@ -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

3
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
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@@ -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