Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

36
examples/SharedMemory/b3PluginManager.h
View File

@@ -10,6 +10,37 @@ enum b3PluginManagerTickMode
B3_PROCESS_CLIENT_COMMANDS_TICK,
};
struct b3PluginFunctions
{
//required
PFN_INIT m_initFunc;
PFN_EXIT m_exitFunc;
PFN_EXECUTE m_executeCommandFunc;
//optional
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
PFN_TICK m_processClientCommandsFunc;
PFN_TICK m_processNotificationsFunc;
PFN_GET_COLLISION_INTERFACE m_getCollisionFunc;
PFN_GET_FILEIO_INTERFACE m_fileIoFunc;
b3PluginFunctions(PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc)
:m_initFunc(initFunc),
m_exitFunc(exitFunc),
m_executeCommandFunc(executeCommandFunc),
m_preTickFunc(0),
m_postTickFunc(0),
m_getRendererFunc(0),
m_processClientCommandsFunc(0),
m_processNotificationsFunc(0),
m_getCollisionFunc(0),
m_fileIoFunc(0)
{
}
};
class b3PluginManager
{
struct b3PluginManagerInternalData* m_data;
@@ -29,11 +60,14 @@ public:
void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
int 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 = true);
int registerStaticLinkedPlugin(const char* pluginPath, b3PluginFunctions& functions, bool initPlugin = true);
void selectPluginRenderer(int pluginUniqueId);
struct UrdfRenderingInterface* getRenderInterface();
void selectFileIOPlugin(int pluginUniqueId);
struct CommonFileIOInterface* getFileIOInterface();
void selectCollisionPlugin(int pluginUniqueId);
struct b3PluginCollisionInterface* getCollisionInterface();
};