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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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72
examples/SharedMemory/b3PluginManager.cpp
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@@ -5,7 +5,7 @@
#include "PhysicsClientC_API.h"
#include "PhysicsDirect.h"
#include "plugins/b3PluginContext.h"
#include "../Utils/b3BulletDefaultFileIO.h"
#ifdef _WIN32
#define WIN32_LEAN_AND_MEAN
#define VC_EXTRALEAN
@@ -48,6 +48,7 @@ struct b3Plugin
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
PFN_GET_COLLISION_INTERFACE m_getCollisionFunc;
PFN_GET_FILEIO_INTERFACE m_getFileIOFunc;
void* m_userPointer;
@@ -65,6 +66,7 @@ struct b3Plugin
m_processClientCommandsFunc(0),
m_getRendererFunc(0),
m_getCollisionFunc(0),
m_getFileIOFunc(0),
m_userPointer(0)
{
}
@@ -84,6 +86,7 @@ struct b3Plugin
m_processClientCommandsFunc = 0;
m_getRendererFunc = 0;
m_getCollisionFunc = 0;
m_getFileIOFunc = 0;
m_userPointer = 0;
m_isInitialized = false;
}
@@ -105,9 +108,11 @@ struct b3PluginManagerInternalData
int m_activeRendererPluginUid;
int m_activeCollisionPluginUid;
int m_numNotificationPlugins;
int m_activeFileIOPluginUid;
b3BulletDefaultFileIO m_defaultFileIO;
b3PluginManagerInternalData()
: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0)
: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
{
}
};
@@ -208,7 +213,8 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
std::string processClientCommandsStr = std::string("processClientCommands") + postFix;
std::string getRendererStr = std::string("getRenderInterface") + postFix;
std::string getCollisionStr = std::string("getCollisionInterface") + postFix;
std::string getFileIOStr = std::string("getFileIOInterface") + postFix;
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.c_str());
@@ -224,6 +230,8 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
plugin->m_getCollisionFunc = (PFN_GET_COLLISION_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getCollisionStr.c_str());
plugin->m_getFileIOFunc = (PFN_GET_FILEIO_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getFileIOStr.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
@@ -293,6 +301,15 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
selectCollisionPlugin(pluginUniqueId);
}
}
//for now, automatically select the loaded plugin as active fileIO plugin.
if (pluginUniqueId >= 0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin && plugin->m_getFileIOFunc)
{
selectFileIOPlugin(pluginUniqueId);
}
}
return pluginUniqueId;
}
@@ -438,7 +455,9 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
return result;
}
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)
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, b3PluginFunctions& functions, bool initPlugin)
{
b3Plugin orgPlugin;
@@ -447,14 +466,15 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_ownsPluginHandle = false;
pluginHandle->m_pluginUniqueId = pluginUniqueId;
pluginHandle->m_executeCommandFunc = executeCommandFunc;
pluginHandle->m_exitFunc = exitFunc;
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_getRendererFunc = getRendererFunc;
pluginHandle->m_getCollisionFunc = getCollisionFunc;
pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
pluginHandle->m_executeCommandFunc = functions.m_executeCommandFunc;
pluginHandle->m_exitFunc = functions.m_exitFunc;
pluginHandle->m_initFunc = functions.m_initFunc;
pluginHandle->m_preTickFunc = functions.m_preTickFunc;
pluginHandle->m_postTickFunc = functions.m_postTickFunc;
pluginHandle->m_getRendererFunc = functions.m_getRendererFunc;
pluginHandle->m_getCollisionFunc = functions.m_getCollisionFunc;
pluginHandle->m_processClientCommandsFunc = functions.m_processClientCommandsFunc;
pluginHandle->m_getFileIOFunc = functions.m_fileIoFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
@@ -502,6 +522,32 @@ UrdfRenderingInterface* b3PluginManager::getRenderInterface()
return renderer;
}
void b3PluginManager::selectFileIOPlugin(int pluginUniqueId)
{
m_data->m_activeFileIOPluginUid = pluginUniqueId;
}
struct CommonFileIOInterface* b3PluginManager::getFileIOInterface()
{
CommonFileIOInterface* fileIOInterface = 0;
if (m_data->m_activeFileIOPluginUid >= 0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeFileIOPluginUid);
if (plugin && plugin->m_getFileIOFunc)
{
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect;
fileIOInterface = plugin->m_getFileIOFunc(&context);
}
}
if (fileIOInterface==0)
{
return &m_data->m_defaultFileIO;
}
return fileIOInterface;
}
void b3PluginManager::selectCollisionPlugin(int pluginUniqueId)
{
m_data->m_activeCollisionPluginUid = pluginUniqueId;