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