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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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8
examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
View File

@@ -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);

19
examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
View File

@@ -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)
{