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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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18
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -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);