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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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102
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4,6 +4,8 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/UrdfFindMeshFile.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
@@ -54,6 +56,7 @@
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
#ifdef ENABLE_STATIC_GRPC_PLUGIN
#include "plugins/grpcPlugin/grpcPlugin.h"
#endif //ENABLE_STATIC_GRPC_PLUGIN
@@ -74,6 +77,10 @@
#include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
#endif
#ifndef B3_ENABLE_FILEIO_PLUGIN
#include "plugins/fileIOPlugin/fileIOPlugin.h"
#endif//B3_DISABLE_FILEIO_PLUGIN
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -104,6 +111,11 @@ btQuaternion gVRTeleportOrn(0, 0, 0, 1);
btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;
#include "../CommonInterfaces/CommonFileIOInterface.h"
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
@@ -1639,6 +1651,7 @@ struct PhysicsServerCommandProcessorInternalData
std::string m_profileTimingFileName;
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
bool m_enableTinyRenderer;
@@ -1704,43 +1717,66 @@ struct PhysicsServerCommandProcessorInternalData
{
//register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0, 0, 0);
b3PluginFunctions funcs(initPlugin_vrSyncPlugin,exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin);
funcs.m_preTickFunc = preTickPluginCallback_vrSyncPlugin;
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", funcs);
#endif //STATIC_LINK_VR_PLUGIN
}
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
{
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, 0, 0, 0, 0);
//int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, PFN_GET_COLLISION_INTERFACE getCollisionFunc, bool initPlugin)
b3PluginFunctions funcs(initPlugin_pdControlPlugin,exitPlugin_pdControlPlugin,executePluginCommand_pdControlPlugin);
funcs.m_preTickFunc = preTickPluginCallback_pdControlPlugin;
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", funcs);
}
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_COLLISION_FILTER_PLUGIN
{
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0, 0, 0, 0, getCollisionInterface_collisionFilterPlugin);
b3PluginFunctions funcs(initPlugin_collisionFilterPlugin,exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin);
funcs.m_getCollisionFunc = getCollisionInterface_collisionFilterPlugin;
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs );
m_pluginManager.selectCollisionPlugin(m_collisionFilterPlugin);
}
#endif
#ifdef ENABLE_STATIC_GRPC_PLUGIN
{
m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin, 0, 0, 0, processClientCommands_grpcPlugin, 0);
b3PluginFunctions funcs(initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin);
funcs.m_processClientCommandsFunc = processClientCommands_grpcPlugin;
m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", funcs);
}
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifdef STATIC_EGLRENDERER_PLUGIN
{
bool initPlugin = false;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin, 0, 0, getRenderInterface_eglRendererPlugin, 0, 0, initPlugin);
b3PluginFunctions funcs(initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin);
funcs.m_getRendererFunc = getRenderInterface_eglRendererPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", funcs, initPlugin);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif //STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
{
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin, 0, 0, getRenderInterface_tinyRendererPlugin, 0, 0);
b3PluginFunctions funcs(initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin);
funcs.m_getRendererFunc=getRenderInterface_tinyRendererPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", funcs);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif
}
#ifdef B3_ENABLE_FILEIO_PLUGIN
{
b3PluginFunctions funcs(initPlugin_fileIOPlugin, exitPlugin_fileIOPlugin, executePluginCommand_fileIOPlugin);
funcs.m_fileIoFunc = getFileIOFunc_fileIOPlugin;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("fileIOPlugin", funcs);
m_pluginManager.selectFileIOPlugin(renderPluginId);
}
#endif
m_vrControllerEvents.init();
@@ -2212,7 +2248,9 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
int graphicsIndex = -1;
double globalScaling = 1.f; //todo!
int flags = 0;
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(),fileIO, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
btAlignedObjectArray<GLInstanceVertex> vertices;
@@ -2300,7 +2338,8 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (m_data->m_pluginManager.getRenderInterface())
{
m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, fileIO);
}
}
virtual void setBodyUniqueId(int bodyId)
@@ -3015,7 +3054,8 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), flags);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, flags);
bool useFixedBase = false;
MyMJCFLogger2 logger;
@@ -3037,8 +3077,8 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
}
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false;
@@ -3067,7 +3107,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
return false;
}
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -4101,9 +4142,9 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
urdfColObj.m_geometry.m_meshFileName = fileName;
urdfColObj.m_geometry.m_meshScale = meshScale;
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
@@ -4112,14 +4153,16 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
std::string out_found_filename;
int out_type;
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (foundFile)
{
urdfColObj.m_geometry.m_meshFileType = out_type;
if (out_type == UrdfGeometry::FILE_STL)
{
glmesh = LoadMeshFromSTL(relativeFileName);
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
glmesh = LoadMeshFromSTL(relativeFileName,fileIO);
}
if (out_type == UrdfGeometry::FILE_OBJ)
{
@@ -4127,12 +4170,13 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
glmesh = LoadMeshFromObj(relativeFileName, pathPrefix,fileIO);
}
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str());
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
@@ -4309,7 +4353,8 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
double globalScaling = 1.f;
int flags = 0;
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
btTransform localInertiaFrame;
localInertiaFrame.setIdentity();
@@ -4374,12 +4419,12 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
visualShape.m_geometry.m_meshFileType = out_type;
visualShape.m_geometry.m_meshFileName = fileName;
@@ -6692,19 +6737,21 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
{
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
bool foundFile = UrdfFindMeshFile(fileIO,pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str());
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
if (shapes.size() > 0)
{
const tinyobj::shape_t& shape = shapes[0];
@@ -9802,7 +9849,8 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
char relativeFileName[1024];
char pathPrefix[1024];
if (b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName, relativeFileName, 1024))
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
if (fileIO->findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName, relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);