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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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30
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -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: