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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/ImportURDFDemo/UrdfParser.h
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@@ -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)