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

2
examples/SharedMemory/plugins/b3PluginAPI.h
View File

@@ -31,7 +31,7 @@ extern "C"
typedef B3_API_ENTRY struct UrdfRenderingInterface*(B3_API_CALL* PFN_GET_RENDER_INTERFACE)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct b3PluginCollisionInterface*(B3_API_CALL* PFN_GET_COLLISION_INTERFACE)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct CommonFileIOInterface*(B3_API_CALL* PFN_GET_FILEIO_INTERFACE)(struct b3PluginContext* context);
#ifdef __cplusplus
}
#endif

1
examples/SharedMemory/plugins/b3PluginFileIOInterface.h Normal file
View File

@@ -0,0 +1 @@
#error

333
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp Normal file
View File

@@ -0,0 +1,333 @@
#include "fileIOPlugin.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
#include "../../../CommonInterfaces/CommonFileIOInterface.h"
#include "../../../Utils/b3ResourcePath.h"
#include "../../../Utils/b3BulletDefaultFileIO.h"
//#define B3_USE_ZLIB
#ifdef B3_USE_ZLIB
#include "minizip/unzip.h"
struct MyFileIO : public CommonFileIOInterface
{
std::string m_zipfileName;
unzFile m_fileHandles[FILEIO_MAX_FILES];
int m_numFileHandles;
MyFileIO(const char* zipfileName)
:m_zipfileName(zipfileName),
m_numFileHandles(0)
{
for (int i=0;i<FILEIO_MAX_FILES;i++)
{
m_fileHandles[i]=0;
}
}
static bool FileIOPluginFindFile(void* userPtr, const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
MyFileIO* fileIo = (MyFileIO*) userPtr;
return fileIo->findFile(orgFileName, relativeFileName, maxRelativeFileNameMaxLen);
}
virtual ~MyFileIO()
{
}
virtual int fileOpen(const char* fileName, const char* mode)
{
//search a free slot
int slot = -1;
for (int i=0;i<FILEIO_MAX_FILES;i++)
{
if (m_fileHandles[i]==0)
{
slot=i;
break;
}
}
if (slot>=0)
{
unzFile zipfile;
unz_global_info m_global_info;
zipfile = unzOpen(m_zipfileName.c_str());
if (zipfile == NULL)
{
printf("%s: not found\n", m_zipfileName.c_str());
slot = -1;
} else
{
int result = 0;
result = unzGetGlobalInfo(zipfile, &m_global_info );
if (result != UNZ_OK)
{
printf("could not read file global info from %s\n", m_zipfileName.c_str());
unzClose(zipfile);
zipfile = 0;
slot = -1;
} else
{
m_fileHandles[slot] = zipfile;
}
}
if (slot >=0)
{
int result = unzLocateFile(zipfile, fileName, 0);
if (result == UNZ_OK)
{
unz_file_info info;
result = unzGetCurrentFileInfo(zipfile, &info, NULL, 0, NULL, 0, NULL, 0);
if (result != UNZ_OK)
{
printf("unzGetCurrentFileInfo() != UNZ_OK (%d)\n", result);
slot=-1;
}
else
{
result = unzOpenCurrentFile(zipfile);
if (result == UNZ_OK)
{
} else
{
slot=-1;
}
}
}
}
}
return slot;
}
virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)
{
int result = -1;
if (fileHandle>=0 && fileHandle < FILEIO_MAX_FILES)
{
unzFile f = m_fileHandles[fileHandle];
if (f)
{
result = unzReadCurrentFile(f, destBuffer,numBytes);
//::fread(destBuffer, 1, numBytes, f);
}
}
return result;
}
virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)
{
#if 0
if (fileHandle>=0 && fileHandle < FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
return ::fwrite(sourceBuffer, 1, numBytes,m_fileHandles[fileHandle]);
}
}
#endif
return -1;
}
virtual void fileClose(int fileHandle)
{
if (fileHandle>=0 && fileHandle < FILEIO_MAX_FILES)
{
unzFile f = m_fileHandles[fileHandle];
if (f)
{
unzClose(f);
m_fileHandles[fileHandle]=0;
}
}
}
virtual bool findResourcePath(const char* fileName, char* relativeFileName, int relativeFileNameSizeInBytes)
{
return b3ResourcePath::findResourcePath(fileName, relativeFileName, relativeFileNameSizeInBytes, MyFileIO::FileIOPluginFindFile, this);
}
virtual bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
int fileHandle = -1;
fileHandle = fileOpen(orgFileName, "rb");
if (fileHandle>=0)
{
//printf("original file found: [%s]\n", orgFileName);
sprintf(relativeFileName, "%s", orgFileName);
fileClose(fileHandle);
return true;
}
//printf("Trying various directories, relative to current working directory\n");
const char* prefix[] = {"./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
int numPrefixes = sizeof(prefix) / sizeof(const char*);
int f = 0;
bool fileFound = false;
for (int i = 0; !f && i < numPrefixes; i++)
{
#ifdef _MSC_VER
sprintf_s(relativeFileName, maxRelativeFileNameMaxLen, "%s%s", prefix[i], orgFileName);
#else
sprintf(relativeFileName, "%s%s", prefix[i], orgFileName);
#endif
f = fileOpen(relativeFileName, "rb");
if (f>=0)
{
fileFound = true;
break;
}
}
if (f>=0)
{
fileClose(f);
}
return fileFound;
}
virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)
{
int numRead = 0;
if (fileHandle>=0 && fileHandle < FILEIO_MAX_FILES)
{
unzFile f = m_fileHandles[fileHandle];
if (f)
{
//return ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
char c = 0;
do
{
fileRead(fileHandle,&c,1);
if (c && c!='\n')
{
if (c!=13)
{
destBuffer[numRead++]=c;
} else
{
destBuffer[numRead++]=0;
}
}
} while (c != 0 && c != '\n' && numRead<(numBytes-1));
}
}
if (numRead<numBytes && numRead>0)
{
destBuffer[numRead]=0;
return &destBuffer[0];
}
return 0;
}
virtual int getFileSize(int fileHandle)
{
int size=0;
if (fileHandle>=0 && fileHandle < FILEIO_MAX_FILES)
{
unzFile f = m_fileHandles[fileHandle];
if (f)
{
unz_file_info info;
int result = unzGetCurrentFileInfo(f, &info, NULL, 0, NULL, 0, NULL, 0);
if (result == UNZ_OK)
{
size = info.uncompressed_size;
}
}
}
return size;
}
};
#else
typedef b3BulletDefaultFileIO MyFileIO;
#endif
struct FileIOClass
{
int m_testData;
MyFileIO m_fileIO;
FileIOClass()
: m_testData(42),
m_fileIO()//"e:/develop/bullet3/data/plane.zip")
{
}
virtual ~FileIOClass()
{
}
};
B3_SHARED_API int initPlugin_fileIOPlugin(struct b3PluginContext* context)
{
FileIOClass* obj = new FileIOClass();
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
printf("text argument:%s\n", arguments->m_text);
printf("int args: [");
for (int i = 0; i < arguments->m_numInts; i++)
{
printf("%d", arguments->m_ints[i]);
if ((i + 1) < arguments->m_numInts)
{
printf(",");
}
}
printf("]\nfloat args: [");
for (int i = 0; i < arguments->m_numFloats; i++)
{
printf("%f", arguments->m_floats[i]);
if ((i + 1) < arguments->m_numFloats)
{
printf(",");
}
}
printf("]\n");
FileIOClass* obj = (FileIOClass*)context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
int bodyUniqueId = -1;
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return bodyUniqueId;
}
B3_SHARED_API struct CommonFileIOInterface* getFileIOFunc_fileIOPlugin(struct b3PluginContext* context)
{
FileIOClass* obj = (FileIOClass*)context->m_userPointer;
return &obj->m_fileIO;
}
B3_SHARED_API void exitPlugin_fileIOPlugin(struct b3PluginContext* context)
{
FileIOClass* obj = (FileIOClass*)context->m_userPointer;
delete obj;
context->m_userPointer = 0;
}

24
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.h Normal file
View File

@@ -0,0 +1,24 @@
#ifndef FILE_IO_PLUGIN_H
#define FILE_IO_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_fileIOPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_fileIOPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API struct CommonFileIOInterface* getFileIOFunc_fileIOPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif //#define FILE_IO_PLUGIN_H

18
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@@ -182,7 +182,7 @@ void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff
m_data->m_hasLightSpecularCoeff = true;
}
void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO)
{
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0;
@@ -322,7 +322,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
{
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{
if (meshData.m_textureImage1)
{
@@ -338,7 +338,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
break;
}
case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
break;
case UrdfGeometry::FILE_COLLADA:
{
@@ -354,7 +354,8 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
upAxis,
fileIO);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
@@ -540,9 +541,10 @@ static btVector4 sColors[4] =
};
void TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId)
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId,
int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
@@ -663,7 +665,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape);
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO);
}
if (vertices.size() && indices.size())

2
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
View File

@@ -11,7 +11,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);

5
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
View File

@@ -41,8 +41,7 @@ B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
context->m_userPointer = obj;
printf("hi vrSyncPlugin!\n");
return SHARED_MEMORY_MAGIC_NUMBER;
}
@@ -192,6 +191,4 @@ B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context)
MyClass* obj = (MyClass*)context->m_userPointer;
delete obj;
context->m_userPointer = 0;
printf("bye vrSyncPlugin!\n");
}