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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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175
examples/Utils/b3BulletDefaultFileIO.h Normal file
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@@ -0,0 +1,175 @@
#ifndef B3_BULLET_DEFAULT_FILE_IO_H
#define B3_BULLET_DEFAULT_FILE_IO_H
#include "../CommonInterfaces/CommonFileIOInterface.h"
#include "b3ResourcePath.h"
#include <stdio.h>
#define B3_FILEIO_MAX_FILES 1024
struct b3BulletDefaultFileIO : public CommonFileIOInterface
{
static bool FileIOPluginFindFile(void* userPtr, const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
b3BulletDefaultFileIO* fileIo = (b3BulletDefaultFileIO*) userPtr;
return fileIo->findFile(orgFileName, relativeFileName, maxRelativeFileNameMaxLen);
}
FILE* m_fileHandles[B3_FILEIO_MAX_FILES];
int m_numFileHandles;
b3BulletDefaultFileIO()
:m_numFileHandles(0)
{
for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
{
m_fileHandles[i]=0;
}
}
virtual ~b3BulletDefaultFileIO()
{
}
virtual int fileOpen(const char* fileName, const char* mode)
{
//search a free slot
int slot = -1;
for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
{
if (m_fileHandles[i]==0)
{
slot=i;
break;
}
}
if (slot>=0)
{
FILE*f = ::fopen(fileName, mode);
if (f)
{
m_fileHandles[slot]=f;
} else
{
slot=-1;
}
}
return slot;
}
virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)
{
if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
int readBytes = ::fread(destBuffer, 1, numBytes, f);
return readBytes;
}
}
return -1;
}
virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)
{
if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
return ::fwrite(sourceBuffer, 1, numBytes,m_fileHandles[fileHandle]);
}
}
return -1;
}
virtual void fileClose(int fileHandle)
{
if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
::fclose(f);
m_fileHandles[fileHandle]=0;
}
}
}
virtual bool findResourcePath(const char* fileName, char* relativeFileName, int relativeFileNameSizeInBytes)
{
return b3ResourcePath::findResourcePath(fileName, relativeFileName, relativeFileNameSizeInBytes, b3BulletDefaultFileIO::FileIOPluginFindFile, this);
}
virtual bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
FILE* f = 0;
f = fopen(orgFileName, "rb");
if (f)
{
//printf("original file found: [%s]\n", orgFileName);
sprintf(relativeFileName, "%s", orgFileName);
fclose(f);
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*);
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 = fopen(relativeFileName, "rb");
if (f)
{
fileFound = true;
break;
}
}
if (f)
{
fclose(f);
}
return fileFound;
}
virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)
{
if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
return ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
}
}
return 0;
}
virtual int getFileSize(int fileHandle)
{
int size = 0;
if (fileHandle>=0 && fileHandle < B3_FILEIO_MAX_FILES)
{
FILE* f = m_fileHandles[fileHandle];
if (f)
{
if (fseek(f, 0, SEEK_END) || (size = ftell(f)) == EOF || fseek(f, 0, SEEK_SET))
{
printf("Error: Cannot access file to determine size\n");
}
}
}
return size;
}
};
#endif //B3_BULLET_DEFAULT_FILE_IO_H

21
examples/Utils/b3ResourcePath.cpp
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@@ -87,12 +87,21 @@ void b3ResourcePath::setAdditionalSearchPath(const char* path)
}
}
int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes)
bool b3MyFindFile(void* userPointer, const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
{
return b3FileUtils::findFile(orgFileName, relativeFileName, maxRelativeFileNameMaxLen);
}
int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes, PFN_FIND_FILE findFile, void* userPointer)
{
if (findFile==0)
{
findFile=b3MyFindFile;
}
//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
char exePath[B3_MAX_EXE_PATH_LEN];
bool res = b3FileUtils::findFile(resourceName, resourcePathOut, resourcePathMaxNumBytes);
bool res = findFile(userPointer, resourceName, resourcePathOut, resourcePathMaxNumBytes);
if (res)
{
return strlen(resourcePathOut);
@@ -104,7 +113,7 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat
char* resourcePathIn = tmpPath.m_path;
sprintf(resourcePathIn, "%s/%s", sAdditionalSearchPath, resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
if (findFile(userPointer, resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePathOut);
}
@@ -122,20 +131,20 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat
char* resourcePathIn = tmpPath.m_path;
sprintf(resourcePathIn, "%s../data/%s", pathToExe, resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
if (findFile(userPointer, resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePathOut);
}
sprintf(resourcePathIn, "%s../resources/%s/%s", pathToExe, &exePath[exeNamePos], resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
if (findFile(userPointer, resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePathOut);
}
sprintf(resourcePathIn, "%s.runfiles/google3/third_party/bullet/data/%s", exePath, resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
if (findFile(userPointer, resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePathOut);
}

4
examples/Utils/b3ResourcePath.h
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@@ -3,11 +3,13 @@
#include <string>
typedef bool (* PFN_FIND_FILE)(void* userPointer, const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen);
class b3ResourcePath
{
public:
static int getExePath(char* path, int maxPathLenInBytes);
static int findResourcePath(const char* sourceName, char* resourcePath, int maxResourcePathLenInBytes);
static int findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes, PFN_FIND_FILE findFile, void* userPointer=0);
static void setAdditionalSearchPath(const char* path);
};
#endif