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.

Extras/InverseDynamics/btMultiBodyFromURDF.hpp

@@ -11,7 +11,7 @@
 #include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
-
+#include "../../examples/Utils/b3BulletDefaultFileIO.h"
 /// Create a btMultiBody model from URDF.
 /// This is adapted from Bullet URDF loader example
 class MyBtMultiBodyFromURDF
@@ -48,7 +48,8 @@ public:
 	{
 		this->createEmptyDynamicsWorld();
 		m_dynamicsWorld->setGravity(m_gravity);
-		BulletURDFImporter urdf_importer(&m_nogfx, 0, 1, 0);
+		b3BulletDefaultFileIO fileIO;
+		BulletURDFImporter urdf_importer(&m_nogfx, 0, &fileIO, 1, 0);
 		URDFImporterInterface &u2b(urdf_importer);
 		bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 

Extras/obj2sdf/obj2sdf.cpp

@@ -14,6 +14,7 @@
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
 #include "Bullet3Common/b3HashMap.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
 
 struct ShapeContainer
 {
@@ -71,12 +72,14 @@ int main(int argc, char* argv[])
 	bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
 
 	char fileNameWithPath[MAX_PATH_LEN];
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN)) > 0;
+	bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN,0)) > 0;
 	char materialPrefixPath[MAX_PATH_LEN];
 	b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
 
 	std::vector<tinyobj::shape_t> shapes;
-	std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath);
+
+	b3BulletDefaultFileIO fileIO;
+	std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath,&fileIO);
 
 	char sdfFileName[MAX_PATH_LEN];
 	sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");

examples/CommonInterfaces/CommonFileIOInterface.h

@@ -0,0 +1,19 @@
+#ifndef COMMON_FILE_IO_INTERFACE_H
+#define COMMON_FILE_IO_INTERFACE_H
+
+struct CommonFileIOInterface
+{
+	virtual ~CommonFileIOInterface()
+	{
+	}
+	virtual int fileOpen(const char* fileName, const char* mode)=0;
+	virtual int fileRead(int fileHandle, char* destBuffer, int numBytes)=0;
+	virtual int fileWrite(int fileHandle,const char* sourceBuffer, int numBytes)=0;
+	virtual void fileClose(int fileHandle)=0;
+	virtual bool findResourcePath(const char* fileName,  char* resourcePathOut, int resourcePathMaxNumBytes)=0;
+	virtual char* readLine(int fileHandle, char* destBuffer, int numBytes)=0;
+	virtual int getFileSize(int fileHandle)=0;
+
+};
+
+#endif //COMMON_FILE_IO_INTERFACE_H

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "Bullet3Common/b3FileUtils.h"
 #include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
 
 struct RigidBodyFromObjExample : public CommonRigidBodyBase
 {
@@ -73,13 +74,14 @@ void RigidBodyFromObjExample::initPhysics()
 	//load our obj mesh
 	const char* fileName = "teddy.obj";  //sphere8.obj";//sponza_closed.obj";//sphere8.obj";
 	char relativeFileName[1024];
-	if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+	if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024,0))
 	{
 		char pathPrefix[1024];
 		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 	}
 
-	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "");
+	b3BulletDefaultFileIO fileIO;
+	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "",&fileIO);
 	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
 
 	const GLInstanceVertex& v = glmesh->m_vertices->at(0);

examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp

@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include "LoadMeshFromCollada.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include "../../Utils/b3ResourcePath.h"
-
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 
 class ImportColladaSetup : public CommonRigidBodyBase
@@ -79,7 +79,7 @@ void ImportColladaSetup::initPhysics()
 
 	char relativeFileName[1024];
 
-	if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+	if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024,0))
 		return;
 
 	btVector3 shift(0, 0, 0);
@@ -94,7 +94,7 @@ void ImportColladaSetup::initPhysics()
 		btTransform upAxisTrans;
 		upAxisTrans.setIdentity();
 
-		btVector3 color(0, 0, 1);
+		btVector4 color(0, 0, 1,1);
 
 #ifdef COMPARE_WITH_ASSIMP
 		static int useAssimp = 0;
@@ -119,7 +119,8 @@ void ImportColladaSetup::initPhysics()
 		{
 			fileIndex = 0;
 		}
-		LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, upAxis);
+		b3BulletDefaultFileIO fileIO;
+		LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, upAxis,&fileIO);
 #endif  // COMPARE_WITH_ASSIMP
 
 		//at the moment our graphics engine requires instances that share the same visual shape to be added right after registering the shape

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -22,10 +22,11 @@ subject to the following restrictions:
 #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
 using namespace tinyxml2;
 
-#include "Bullet3Common/b3FileUtils.h"
+
 #include "LinearMath/btHashMap.h"
 #include <assert.h>
 #include "btMatrix4x4.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 #define MAX_VISUAL_SHAPES 512
 
@@ -561,7 +562,7 @@ void getUnitMeterScalingAndUpAxisTransform(XMLDocument& doc, btTransform& tr, fl
 	}
 }
 
-void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling, int clientUpAxis)
+void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling, int clientUpAxis, struct CommonFileIOInterface* fileIO)
 {
 	//	GLInstanceGraphicsShape* instance = 0;
 
@@ -570,16 +571,32 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
 
 	float extraScaling = 1;  //0.01;
 	btHashMap<btHashString, int> name2ShapeIndex;
-	b3FileUtils f;
+	
 	char filename[1024];
-	if (!f.findFile(relativeFileName, filename, 1024))
+	if (!fileIO->findResourcePath(relativeFileName, filename, 1024))
 	{
 		b3Warning("File not found: %s\n", filename);
 		return;
 	}
 
 	XMLDocument doc;
-	if (doc.LoadFile(filename) != XML_SUCCESS)
+	//doc.Parse((const char*)filedata, 0, TIXML_ENCODING_UTF8);
+	b3AlignedObjectArray<char> xmlString;
+	int fileHandle = fileIO->fileOpen(filename,"r");
+	if (fileHandle>=0)
+	{
+		int size = fileIO->getFileSize(fileHandle);
+		xmlString.resize(size);
+		int actual = fileIO->fileRead(fileHandle, &xmlString[0],size);
+		if (actual==size)
+		{
+		}
+	}
+	if (xmlString.size()==0)
+		return;
+
+	if (doc.Parse(&xmlString[0], xmlString.size()) != XML_SUCCESS)
+	//if (doc.LoadFile(filename) != XML_SUCCESS)
 		return;
 
 	//We need units to be in meter, so apply a scaling using the asset/units meter

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h

@@ -28,7 +28,8 @@ void LoadMeshFromCollada(const char* relativeFileName,
 						 btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,
 						 btTransform& upAxisTrans,
 						 float& unitMeterScaling,
-						 int clientUpAxis);
+						 int clientUpAxis,
+						 struct CommonFileIOInterface* fileIO);
 
 //#define COMPARE_WITH_ASSIMP
 #ifdef COMPARE_WITH_ASSIMP

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -6,6 +6,8 @@
 #include "BulletCollision/CollisionShapes/btShapeHull.h"
 #include "../../CommonInterfaces/CommonRenderInterface.h"
 #include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
+#include "../ImportURDFDemo/UrdfFindMeshFile.h"
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
 #include <iostream>
@@ -32,6 +34,7 @@
 #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleMesh.h"
+
 using namespace tinyxml2;
 
 #define mjcf_sphere_indiced textured_detailed_sphere_indices
@@ -204,12 +207,15 @@ struct BulletMJCFImporterInternalData
 	int m_flags;
 	int m_textureId;
 	
+	CommonFileIOInterface* m_fileIO;
+
 	BulletMJCFImporterInternalData()
 		: m_inertiaFromGeom(true),
 		  m_activeModel(-1),
 		  m_activeBodyUniqueId(-1),
 		  m_flags(0),
-		  m_textureId(-1)
+		  m_textureId(-1),
+		  m_fileIO(0)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -887,7 +893,7 @@ struct BulletMJCFImporterInternalData
 					{
 						geom.m_type = URDF_GEOM_MESH;
 						geom.m_meshFileName = assetPtr->m_fileName;
-						bool exists = findExistingMeshFile(
+						bool exists = UrdfFindMeshFile(m_fileIO,
 							m_sourceFileName, assetPtr->m_fileName, sourceFileLocation(link_xml),
 							&geom.m_meshFileName,
 							&geom.m_meshFileType);
@@ -1408,13 +1414,14 @@ struct BulletMJCFImporterInternalData
 	}
 };
 
-BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags)
+BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, CommonFileIOInterface* fileIO, int flags)
 {
 	m_data = new BulletMJCFImporterInternalData();
 	m_data->m_guiHelper = helper;
 	m_data->m_customVisualShapesConverter = customConverter;
 	m_data->m_flags = flags;
 	m_data->m_textureId = -1;
+	m_data->m_fileIO = fileIO;
 }
 
 BulletMJCFImporter::~BulletMJCFImporter()
@@ -1433,7 +1440,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024) > 0);
+	bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0);
 	m_data->m_sourceFileName = relativeFileName;
 
 	std::string xml_string;
@@ -1962,7 +1969,7 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 				case UrdfGeometry::FILE_OBJ:
 				{
 					b3ImportMeshData meshData;
-					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
 					{
 						if (meshData.m_textureImage1)
 						{
@@ -1980,7 +1987,7 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 
 				case UrdfGeometry::FILE_STL:
 				{
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 					break;
 				}
 
@@ -1998,7 +2005,8 @@ void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 										visualShapeInstances,
 										upAxisTrans,
 										unitMeterScaling,
-										upAxis);
+										upAxis,
+										m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					//		int index = 0;
@@ -2243,7 +2251,7 @@ void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 	if (m_data->m_customVisualShapesConverter)
 	{
 		const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
-		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex);
+		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex, m_data->m_fileIO);
 	}
 }
 
@@ -2379,12 +2387,12 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 						{
 							if (col->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
 							{
-								glmesh = LoadMeshFromObj(col->m_geometry.m_meshFileName.c_str(), 0);
+								glmesh = LoadMeshFromObj(col->m_geometry.m_meshFileName.c_str(), 0,m_data->m_fileIO);
 							}
 							else
 							{
 								std::vector<tinyobj::shape_t> shapes;
-								std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str());
+								std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
 								//create a convex hull for each shape, and store it in a btCompoundShape
 
 								childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
@@ -2393,7 +2401,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 						}
 						case UrdfGeometry::FILE_STL:
 						{
-							glmesh = LoadMeshFromSTL(col->m_geometry.m_meshFileName.c_str());
+							glmesh = LoadMeshFromSTL(col->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 							break;
 						}
 						default:

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -27,7 +27,7 @@ class BulletMJCFImporter : public URDFImporterInterface
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
 
 public:
-	BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
+	BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter,  struct CommonFileIOInterface* fileIO, int flags);
 	virtual ~BulletMJCFImporter();
 
 	virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp

@@ -10,7 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../../Utils/b3ResourcePath.h"
-
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 
 #include "../ImportURDFDemo/MyMultiBodyCreator.h"
@@ -200,7 +200,8 @@ void ImportMJCFSetup::initPhysics()
 	}
 
 	int flags = 0;
-	BulletMJCFImporter importer(m_guiHelper, 0, flags);
+	b3BulletDefaultFileIO fileIO;
+	BulletMJCFImporter importer(m_guiHelper, 0, &fileIO, flags);
 	MyMJCFLogger logger;
 	bool result = importer.loadMJCF(m_fileName, &logger);
 	if (result)

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -9,6 +9,7 @@
 #include "stb_image/stb_image.h"
 #include "../ImportObjDemo/LoadMeshFromObj.h"
 #include "Bullet3Common/b3HashMap.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 struct CachedTextureResult
 {
@@ -45,7 +46,7 @@ struct CachedTextureManager
 };
 static CachedTextureManager sTexCacheMgr;
 
-bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
+bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("loadAndRegisterMeshFromFileInternal");
 	meshData.m_gfxShape = 0;
@@ -55,7 +56,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 	meshData.m_isCached = false;
 
 	char relativeFileName[1024];
-	if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+	if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
 	{
 		char pathPrefix[1024];
 
@@ -65,7 +66,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		std::vector<tinyobj::shape_t> shapes;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
-			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix);
+			std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix,fileIO);
 			//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		}
 
@@ -91,7 +92,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 						char relativeFileName[1024];
 						sprintf(relativeFileName, "%s%s", prefix[i], filename);
 						char relativeFileName2[1024];
-						if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
+						if (fileIO->findResourcePath(relativeFileName, relativeFileName2, 1024))
 						{
 							if (b3IsFileCachingEnabled())
 							{
@@ -110,7 +111,30 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 
 							if (image == 0)
 							{
-								image = stbi_load(relativeFileName, &width, &height, &n, 3);
+
+								b3AlignedObjectArray<char> buffer;
+								buffer.reserve(1024);
+								int fileId = fileIO->fileOpen(relativeFileName,"rb");
+								if (fileId>=0)
+								{
+									int size = fileIO->getFileSize(fileId);
+									if (size>0)
+									{
+										buffer.resize(size);
+										int actual = fileIO->fileRead(fileId,&buffer[0],size);
+										if (actual != size)
+										{
+											b3Warning("STL filesize mismatch!\n");
+											buffer.resize(0);
+										}
+									}
+								}
+
+								if (buffer.size())
+								{
+									image = stbi_load_from_memory((const unsigned char*)&buffer[0], buffer.size(), &width, &height, &n, 3);
+								}
+								//image = stbi_load(relativeFileName, &width, &height, &n, 3);
 
 								meshData.m_textureImage1 = image;
 

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h

@@ -16,7 +16,7 @@ struct b3ImportMeshData
 class b3ImportMeshUtility
 {
 public:
-	static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
+	static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData, struct CommonFileIOInterface* fileIO);
 };
 
 #endif  //B3_IMPORT_MESH_UTILITY_H

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -7,6 +7,7 @@
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "Wavefront2GLInstanceGraphicsShape.h"
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
 #include "Bullet3Common/b3FileUtils.h"
 
 #include "stb_image/stb_image.h"
@@ -56,7 +57,8 @@ int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterf
 	int shapeId = -1;
 
 	b3ImportMeshData meshData;
-	if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+	b3BulletDefaultFileIO fileIO;
+	if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
 	{
 		int textureIndex = -1;
 
@@ -94,7 +96,7 @@ void ImportObjSetup::initPhysics()
 	btQuaternion orn = trans.getRotation();
 
 	btVector3 scaling(1, 1, 1);
-	btVector3 color(1, 1, 1);
+	btVector4 color(1, 1, 1,1);
 
 	int shapeId = loadAndRegisterMeshFromFile2(m_fileName, m_guiHelper->getRenderInterface());
 	if (shapeId >= 0)

examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp

@@ -33,7 +33,9 @@ void b3EnableFileCaching(int enable)
 std::string LoadFromCachedOrFromObj(
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
-	const char* mtl_basepath)
+	const char* mtl_basepath,
+	struct CommonFileIOInterface* fileIO
+	)
 {
 	CachedObjResult* resultPtr = gCachedObjResults[filename];
 	if (resultPtr)
@@ -43,7 +45,7 @@ std::string LoadFromCachedOrFromObj(
 		return result.m_msg;
 	}
 
-	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath);
+	std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath,fileIO);
 	CachedObjResult result;
 	result.m_msg = err;
 	result.m_shapes = shapes;
@@ -54,13 +56,13 @@ std::string LoadFromCachedOrFromObj(
 	return err;
 }
 
-GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
+GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("LoadMeshFromObj");
 	std::vector<tinyobj::shape_t> shapes;
 	{
 		B3_PROFILE("tinyobj::LoadObj2");
-		std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath);
+		std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath,fileIO);
 	}
 
 	{

examples/Importers/ImportObjDemo/LoadMeshFromObj.h

@@ -8,11 +8,13 @@ struct GLInstanceGraphicsShape;
 int b3IsFileCachingEnabled();
 void b3EnableFileCaching(int enable);
 
+
 std::string LoadFromCachedOrFromObj(
 	std::vector<tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
-	const char* mtl_basepath);
+	const char* mtl_basepath,
+	struct CommonFileIOInterface* fileIO);
 
-GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);
+GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath,struct CommonFileIOInterface* fileIO);
 
 #endif  //LOAD_MESH_FROM_OBJ_H

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -162,7 +162,7 @@ void ImportSDFSetup::initPhysics()
 
 	m_dynamicsWorld->setGravity(gravity);
 
-	BulletURDFImporter u2b(m_guiHelper, 0, 1, 0);
+	BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
 
 	bool loadOk = u2b.loadSDF(m_fileName);
 

examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp

@@ -7,6 +7,7 @@
 #include "LoadMeshFromSTL.h"
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
 
 class ImportSTLSetup : public CommonRigidBodyBase
 {
@@ -55,7 +56,7 @@ void ImportSTLSetup::initPhysics()
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
 
 	char relativeFileName[1024];
-	if (!b3ResourcePath::findResourcePath(m_fileName, relativeFileName, 1024))
+	if (!b3ResourcePath::findResourcePath(m_fileName, relativeFileName, 1024,0))
 	{
 		b3Warning("Cannot find file %s\n", m_fileName);
 		return;
@@ -65,7 +66,8 @@ void ImportSTLSetup::initPhysics()
 	//	int index=10;
 
 	{
-		GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName);
+		b3BulletDefaultFileIO fileIO;
+		GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName,&fileIO);
 
 		btTransform trans;
 		trans.setIdentity();
@@ -74,7 +76,7 @@ void ImportSTLSetup::initPhysics()
 		btVector3 position = trans.getOrigin();
 		btQuaternion orn = trans.getRotation();
 
-		btVector3 color(0, 0, 1);
+		btVector4 color(0, 0, 1,1);
 
 		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -5,6 +5,7 @@
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include <stdio.h>  //fopen
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 
 struct MySTLTriangle
 {
@@ -14,25 +15,21 @@ struct MySTLTriangle
 	float vertex2[3];
 };
 
-static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
+static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName, struct CommonFileIOInterface* fileIO)
 {
 	GLInstanceGraphicsShape* shape = 0;
 
-	FILE* file = fopen(relativeFileName, "rb");
+	int fileHandle = fileIO->fileOpen(relativeFileName, "rb");
-	if (file)
+	if (fileHandle>=0)
 	{
 		int size = 0;
-		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
+		size = fileIO->getFileSize(fileHandle);
 		{
-			b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName);
+			if (size>=0)
-		}
-		else
-		{
-			if (size)
 			{
 				//b3Warning("Open STL file of %d bytes\n",size);
 				char* memoryBuffer = new char[size + 1];
-				int actualBytesRead = fread(memoryBuffer, 1, size, file);
+				int actualBytesRead = fileIO->fileRead(fileHandle, memoryBuffer, size);
 				if (actualBytesRead != size)
 				{
 					b3Warning("Error reading from file %s", relativeFileName);
@@ -97,7 +94,7 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 				delete[] memoryBuffer;
 			}
 		}
-		fclose(file);
+		fileIO->fileClose(fileHandle);
 	}
 	if (shape)
 	{

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -22,9 +22,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btShapeHull.h"  //to create a tesselation of a generic btConvexShape
 #include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
 #include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
+#include "../../Utils/b3BulletDefaultFileIO.h"
+
+
+
 #include "URDF2Bullet.h"  //for flags
 #include "../ImportMeshUtility/b3ImportMeshUtility.h"
 
@@ -35,13 +40,16 @@ static btScalar gUrdfDefaultCollisionMargin = 0.001;
 #include <list>
 #include "UrdfParser.h"
 
+
+
 ATTRIBUTE_ALIGNED16(struct)
 BulletURDFInternalData
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
-
+	b3BulletDefaultFileIO m_defaultFileIO;
 	UrdfParser m_urdfParser;
 	struct GUIHelperInterface* m_guiHelper;
+	struct CommonFileIOInterface* m_fileIO;
 	std::string m_sourceFile;
 	char m_pathPrefix[1024];
 	int m_bodyId;
@@ -63,7 +71,9 @@ BulletURDFInternalData
 		m_pathPrefix[sizeof(m_pathPrefix) - 1] = 0;  // required, strncpy doesn't write zero on overflow
 	}
 
-	BulletURDFInternalData()
+	BulletURDFInternalData(CommonFileIOInterface* fileIO)
+		:m_urdfParser(fileIO? fileIO : &m_defaultFileIO),
+		m_fileIO(fileIO? fileIO : &m_defaultFileIO)
 	{
 		m_enableTinyRenderer = true;
 		m_pathPrefix[0] = 0;
@@ -74,6 +84,8 @@ BulletURDFInternalData
 	{
 		m_urdfParser.setGlobalScaling(scaling);
 	}
+
+	
 };
 
 void BulletURDFImporter::printTree()
@@ -81,9 +93,12 @@ void BulletURDFImporter::printTree()
 	//	btAssert(0);
 }
 
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling, int flags)
+
+
+
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO,double globalScaling, int flags)
 {
-	m_data = new BulletURDFInternalData;
+	m_data = new BulletURDFInternalData(fileIO);
 	m_data->setGlobalScaling(globalScaling);
 	m_data->m_flags = flags;
 	m_data->m_guiHelper = helper;
@@ -128,7 +143,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024)) > 0;
+	bool fileFound = m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0;
 
 	std::string xml_string;
 
@@ -143,6 +158,23 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 		fu.extractPath(relativeFileName, path, sizeof(path));
 		m_data->setSourceFile(relativeFileName, path);
 
+		//read file
+		int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
+		
+
+		char destBuffer[8192];
+		char* line = 0;
+		do 
+		{
+			line = m_data->m_fileIO->readLine(fileId, destBuffer, 8192);
+			if (line)
+			{
+				xml_string += (std::string(destBuffer) + "\n");
+			}
+		}
+		while (line);
+
+#if 0
 		std::fstream xml_file(relativeFileName, std::fstream::in);
 		while (xml_file.good())
 		{
@@ -151,6 +183,8 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 			xml_string += (line + "\n");
 		}
 		xml_file.close();
+#endif
+
 	}
 
 	BulletErrorLogger loggie;
@@ -178,7 +212,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
 	b3FileUtils fu;
 
 	//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
-	bool fileFound = (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024)) > 0;
+	bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024)) > 0;
 
 	std::string xml_string;
 
@@ -507,107 +541,7 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
 	return compound;
 }
 
-bool findExistingMeshFile(
-	const std::string& urdf_path, std::string fn,
-	const std::string& error_message_prefix,
-	std::string* out_found_filename, int* out_type)
-{
-	if (fn.size() <= 4)
-	{
-		b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
-		return false;
-	}
 
-	std::string ext;
-	std::string ext_ = fn.substr(fn.size() - 4);
-	for (std::string::iterator i = ext_.begin(); i != ext_.end(); ++i)
-	{
-		ext += char(tolower(*i));
-	}
-
-	if (ext == ".dae")
-	{
-		*out_type = UrdfGeometry::FILE_COLLADA;
-	}
-	else if (ext == ".stl")
-	{
-		*out_type = UrdfGeometry::FILE_STL;
-	}
-	else if (ext == ".obj")
-	{
-		*out_type = UrdfGeometry::FILE_OBJ;
-	}
-	else if (ext == ".cdf")
-	{
-		*out_type = UrdfGeometry::FILE_CDF;
-	}
-	else
-	{
-		b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
-		return false;
-	}
-
-	std::string drop_it_pack = "package://";
-	std::string drop_it_model = "model://";
-	if (fn.substr(0, drop_it_pack.length()) == drop_it_pack)
-		fn = fn.substr(drop_it_pack.length());
-	else if (fn.substr(0, drop_it_model.length()) == drop_it_model)
-		fn = fn.substr(drop_it_model.length());
-
-	std::list<std::string> shorter;
-	shorter.push_back("../..");
-	shorter.push_back("..");
-	shorter.push_back(".");
-	int cnt = urdf_path.size();
-	for (int i = 0; i < cnt; ++i)
-	{
-		if (urdf_path[i] == '/' || urdf_path[i] == '\\')
-		{
-			shorter.push_back(urdf_path.substr(0, i));
-		}
-	}
-	shorter.reverse();
-
-	std::string existing_file;
-
-	{
-		std::string attempt = fn;
-		FILE* f = fopen(attempt.c_str(), "rb");
-		if (f)
-		{
-			existing_file = attempt;
-			fclose(f);
-		}
-	}
-	if (existing_file.empty())
-	{
-		for (std::list<std::string>::iterator x = shorter.begin(); x != shorter.end(); ++x)
-		{
-			std::string attempt = *x + "/" + fn;
-			FILE* f = fopen(attempt.c_str(), "rb");
-			if (!f)
-			{
-				//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
-				continue;
-			}
-			fclose(f);
-			existing_file = attempt;
-			//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
-			break;
-		}
-	}
-
-	if (existing_file.empty())
-	{
-		b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
-		return false;
-	}
-	else
-	{
-		*out_found_filename = existing_file;
-		return true;
-	}
-}
 
 int BulletURDFImporter::getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const
 {
@@ -708,7 +642,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 			char relativeFileName[1024];
 			char pathPrefix[1024];
 			pathPrefix[0] = 0;
-			if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+			if (m_data->m_fileIO->findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
 			{
 				b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 
@@ -758,16 +692,16 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 						char relativeFileName[1024];
 						char pathPrefix[1024];
 						pathPrefix[0] = 0;
-						if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+						if (m_data->m_fileIO->findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
 						{
 							b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 						}
-						glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
+						glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix,m_data->m_fileIO);
 					}
 					else
 					{
 						std::vector<tinyobj::shape_t> shapes;
-						std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str());
+						std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
 						//create a convex hull for each shape, and store it in a btCompoundShape
 
 						shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
@@ -777,7 +711,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					break;
 
 				case UrdfGeometry::FILE_STL:
-					glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
 					break;
 
 				case UrdfGeometry::FILE_COLLADA:
@@ -787,7 +721,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					btTransform upAxisTrans;
 					upAxisTrans.setIdentity();
 					float unitMeterScaling = 1;
-					LoadMeshFromCollada(collision->m_geometry.m_meshFileName.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2);
+					LoadMeshFromCollada(collision->m_geometry.m_meshFileName.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2, m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					glmesh->m_indices = new b3AlignedObjectArray<int>();
@@ -982,7 +916,7 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 				case UrdfGeometry::FILE_OBJ:
 				{
 					b3ImportMeshData meshData;
-					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+					if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
 					{
 						if (meshData.m_textureImage1)
 						{
@@ -1000,7 +934,7 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 
 				case UrdfGeometry::FILE_STL:
 				{
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(),m_data->m_fileIO);
 					break;
 				}
 
@@ -1018,7 +952,8 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 										visualShapeInstances,
 										upAxisTrans,
 										unitMeterScaling,
-										upAxis);
+										upAxis,
+										m_data->m_fileIO);
 
 					glmesh = new GLInstanceGraphicsShape;
 					//		int index = 0;
@@ -1326,7 +1261,7 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 		UrdfLink* const* linkPtr = model.m_links.getAtIndex(urdfIndex);
 		if (linkPtr)
 		{
-			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, m_data->m_fileIO);
 		}
 	}
 }
@@ -1403,6 +1338,8 @@ class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIn
 		{
 			const UrdfCollision& col = link->m_collisionArray[v];
 			btCollisionShape* childShape = convertURDFToCollisionShape(&col, pathPrefix);
+			if (childShape)
+			{
 				m_data->m_allocatedCollisionShapes.push_back(childShape);
 				if (childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
 				{
@@ -1413,8 +1350,6 @@ class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIn
 					}
 				}
 
-			if (childShape)
-			{
 				btTransform childTrans = col.m_linkLocalFrame;
 
 				compoundShape->addChildShape(localInertiaFrame.inverse() * childTrans, childShape);

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -19,7 +19,7 @@ class BulletURDFImporter : public URDFImporterInterface
 	struct BulletURDFInternalData* m_data;
 
 public:
-	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling = 1, int flags = 0);
+	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO,double globalScaling, int flags);
 
 	virtual ~BulletURDFImporter();
 

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -171,7 +171,8 @@ void ImportUrdfSetup::initPhysics()
 
 	int flags = 0;
 	double globalScaling = 1;
-	BulletURDFImporter u2b(m_guiHelper, 0, globalScaling, flags);
+
+	BulletURDFImporter u2b(m_guiHelper, 0, 0, globalScaling, flags);
 
 	bool loadOk = u2b.loadURDF(m_fileName);
 

examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h

@@ -0,0 +1,116 @@
+
+#ifndef URDF_FIND_MESH_FILE_H
+#define URDF_FIND_MESH_FILE_H
+
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
+#include "Bullet3Common/b3Logging.h"
+
+#include <string>
+#include <list>
+
+#include "UrdfParser.h"
+
+static bool UrdfFindMeshFile(
+	CommonFileIOInterface* fileIO,
+	const std::string& urdf_path, std::string fn,
+	const std::string& error_message_prefix,
+	std::string* out_found_filename, int* out_type)
+{
+	if (fn.size() <= 4)
+	{
+		b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
+		return false;
+	}
+
+	std::string ext;
+	std::string ext_ = fn.substr(fn.size() - 4);
+	for (std::string::iterator i = ext_.begin(); i != ext_.end(); ++i)
+	{
+		ext += char(tolower(*i));
+	}
+
+	if (ext == ".dae")
+	{
+		*out_type = UrdfGeometry::FILE_COLLADA;
+	}
+	else if (ext == ".stl")
+	{
+		*out_type = UrdfGeometry::FILE_STL;
+	}
+	else if (ext == ".obj")
+	{
+		*out_type = UrdfGeometry::FILE_OBJ;
+	}
+	else if (ext == ".cdf")
+	{
+		*out_type = UrdfGeometry::FILE_CDF;
+	}
+	else
+	{
+		b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
+		return false;
+	}
+
+	std::string drop_it_pack = "package://";
+	std::string drop_it_model = "model://";
+	if (fn.substr(0, drop_it_pack.length()) == drop_it_pack)
+		fn = fn.substr(drop_it_pack.length());
+	else if (fn.substr(0, drop_it_model.length()) == drop_it_model)
+		fn = fn.substr(drop_it_model.length());
+
+	std::list<std::string> shorter;
+	shorter.push_back("../..");
+	shorter.push_back("..");
+	shorter.push_back(".");
+	int cnt = urdf_path.size();
+	for (int i = 0; i < cnt; ++i)
+	{
+		if (urdf_path[i] == '/' || urdf_path[i] == '\\')
+		{
+			shorter.push_back(urdf_path.substr(0, i));
+		}
+	}
+	shorter.reverse();
+
+	std::string existing_file;
+
+	{
+		std::string attempt = fn;
+		int f = fileIO->fileOpen(attempt.c_str(), "rb");
+		if (f>=0)
+		{
+			existing_file = attempt;
+			fileIO->fileClose(f);
+		}
+	}
+	if (existing_file.empty())
+	{
+		for (std::list<std::string>::iterator x = shorter.begin(); x != shorter.end(); ++x)
+		{
+			std::string attempt = *x + "/" + fn;
+			int f = fileIO->fileOpen(attempt.c_str(), "rb");
+			if (f<0)
+			{
+				//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
+				continue;
+			}
+			fileIO->fileClose(f);
+			existing_file = attempt;
+			//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
+			break;
+		}
+	}
+
+	if (existing_file.empty())
+	{
+		b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
+		return false;
+	}
+	else
+	{
+		*out_found_filename = existing_file;
+		return true;
+	}
+}
+
+#endif //URDF_FIND_MESH_FILE_H

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -2,12 +2,15 @@
 #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
 #include "urdfStringSplit.h"
 #include "urdfLexicalCast.h"
+#include "UrdfFindMeshFile.h"
+
 using namespace tinyxml2;
 
-UrdfParser::UrdfParser()
+UrdfParser::UrdfParser(CommonFileIOInterface* fileIO)
 	: m_parseSDF(false),
 	  m_activeSdfModel(-1),
-	  m_urdfScaling(1)
+	  m_urdfScaling(1),
+	  m_fileIO(fileIO)
 {
 	m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING";  // if loadUrdf() called later, source file name will be replaced with real
 }
@@ -495,7 +498,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
 		}
 
 		geom.m_meshFileName = fn;
-		bool success = findExistingMeshFile(
+		bool success = UrdfFindMeshFile(m_fileIO,
 			m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
 			&geom.m_meshFileName, &geom.m_meshFileType);
 		if (!success)

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -106,9 +106,6 @@ struct UrdfGeometry
 	}
 };
 
-bool findExistingMeshFile(const std::string& urdf_path, std::string fn,
-						  const std::string& error_message_prefix,
-						  std::string* out_found_filename, int* out_type);  // intended to fill UrdfGeometry::m_meshFileName and Type, but can be used elsewhere
 
 struct UrdfShape
 {
@@ -256,6 +253,9 @@ protected:
 	int m_activeSdfModel;
 
 	btScalar m_urdfScaling;
+
+	struct CommonFileIOInterface* m_fileIO;
+
 	bool parseTransform(btTransform& tr, tinyxml2::XMLElement* xml, ErrorLogger* logger, bool parseSDF = false);
 	bool parseInertia(UrdfInertia& inertia, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseGeometry(UrdfGeometry& geom, tinyxml2::XMLElement* g, ErrorLogger* logger);
@@ -270,7 +270,7 @@ protected:
 	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
 
 public:
-	UrdfParser();
+	UrdfParser(struct CommonFileIOInterface* fileIO);
 	virtual ~UrdfParser();
 
 	void setParseSDF(bool useSDF)

examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h

@@ -15,7 +15,7 @@ struct UrdfRenderingInterface
 	virtual ~UrdfRenderingInterface() {}
 	///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
 	///use the collisionObjectUid as a unique identifier to synchronize the world transform and to remove the visual shape.
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUid, int bodyUniqueId) = 0;
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO) = 0;
 
 	///remove a visual shapes, based on the shape unique id (shapeUid)
 	virtual void removeVisualShape(int collisionObjectUid) = 0;

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -152,7 +152,7 @@ void InverseDynamicsExample::initPhysics()
 	{
 		case BT_ID_LOAD_URDF:
 		{
-			BulletURDFImporter u2b(m_guiHelper, 0, 1, 0);
+			BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
 			bool loadOk = u2b.loadURDF("kuka_iiwa/model.urdf");  // lwr / kuka.urdf");
 			if (loadOk)
 			{

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -346,7 +346,7 @@ void TestJointTorqueSetup::initPhysics()
 	btSerializer* s = new btDefaultSerializer;
 	m_dynamicsWorld->serialize(s);
 	char resourcePath[1024];
-	if (b3ResourcePath::findResourcePath("multibody.bullet", resourcePath, 1024))
+	if (b3ResourcePath::findResourcePath("multibody.bullet", resourcePath, 1024,0))
 	{
 		FILE* f = fopen(resourcePath, "wb");
 		fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -16,7 +16,7 @@
 #include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
-
+#include "../Utils/b3BulletDefaultFileIO.h"
 struct TinyRendererSetupInternalData
 {
 	TGAImage m_rgbColorBuffer;
@@ -149,7 +149,8 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 			int shapeId = -1;
 
 			b3ImportMeshData meshData;
-			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+			b3BulletDefaultFileIO fileIO;
+			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
 			{
 				int textureIndex = -1;
 

examples/RenderingExamples/TinyVRGui.cpp

@@ -7,6 +7,7 @@
 #include "../RenderingExamples/TimeSeriesFontData.h"
 #include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
 
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
@@ -129,7 +130,8 @@ bool TinyVRGui::init()
 			int shapeId = -1;
 
 			b3ImportMeshData meshData;
-			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+			b3BulletDefaultFileIO fileIO;
+			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
 			{
 				shapeId = m_data->m_renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
 															meshData.m_gfxShape->m_numvertices,

examples/RollingFrictionDemo/RollingFrictionDemo.cpp

@@ -218,7 +218,7 @@ void RollingFrictionDemo::initPhysics()
 		btSerializer* s = new btDefaultSerializer;
 		m_dynamicsWorld->serialize(s);
 		char resourcePath[1024];
-		if (b3ResourcePath::findResourcePath("slope.bullet", resourcePath, 1024))
+		if (b3ResourcePath::findResourcePath("slope.bullet", resourcePath, 1024,0))
 		{
 			FILE* f = fopen(resourcePath, "wb");
 			fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4,6 +4,8 @@
 #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Importers/ImportURDFDemo/UrdfFindMeshFile.h"
+
 #include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
 
 #include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
@@ -54,6 +56,7 @@
 #include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
 #endif
 
+
 #ifdef ENABLE_STATIC_GRPC_PLUGIN
 #include "plugins/grpcPlugin/grpcPlugin.h"
 #endif  //ENABLE_STATIC_GRPC_PLUGIN
@@ -74,6 +77,10 @@
 #include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
 #endif
 
+#ifndef B3_ENABLE_FILEIO_PLUGIN
+#include "plugins/fileIOPlugin/fileIOPlugin.h"
+#endif//B3_DISABLE_FILEIO_PLUGIN
+
 #ifdef B3_ENABLE_TINY_AUDIO
 #include "../TinyAudio/b3SoundEngine.h"
 #endif
@@ -104,6 +111,11 @@ btQuaternion gVRTeleportOrn(0, 0, 0, 1);
 btScalar simTimeScalingFactor = 1;
 btScalar gRhsClamp = 1.f;
 
+#include "../CommonInterfaces/CommonFileIOInterface.h"
+
+
+
+
 struct UrdfLinkNameMapUtil
 {
 	btMultiBody* m_mb;
@@ -1639,6 +1651,7 @@ struct PhysicsServerCommandProcessorInternalData
 	std::string m_profileTimingFileName;
 
 	struct GUIHelperInterface* m_guiHelper;
+	
 	int m_sharedMemoryKey;
 	bool m_enableTinyRenderer;
 
@@ -1704,43 +1717,66 @@ struct PhysicsServerCommandProcessorInternalData
 		{
 			//register static plugins:
 #ifdef STATIC_LINK_VR_PLUGIN
-			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0, 0, 0);
+			b3PluginFunctions funcs(initPlugin_vrSyncPlugin,exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin);
+			funcs.m_preTickFunc = preTickPluginCallback_vrSyncPlugin;
+			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", funcs);
 #endif  //STATIC_LINK_VR_PLUGIN
-
+		}
 #ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
 			{
-				m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, 0, 0, 0, 0);
+				//int b3PluginManager::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)
+				b3PluginFunctions funcs(initPlugin_pdControlPlugin,exitPlugin_pdControlPlugin,executePluginCommand_pdControlPlugin);
+				funcs.m_preTickFunc = preTickPluginCallback_pdControlPlugin;
+				m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", funcs);
 			}
 #endif  //SKIP_STATIC_PD_CONTROL_PLUGIN
 
 #ifndef SKIP_COLLISION_FILTER_PLUGIN
 			{
-				m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0, 0, 0, 0, getCollisionInterface_collisionFilterPlugin);
+				b3PluginFunctions funcs(initPlugin_collisionFilterPlugin,exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin);
+				funcs.m_getCollisionFunc = getCollisionInterface_collisionFilterPlugin;
+				m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs );
 				m_pluginManager.selectCollisionPlugin(m_collisionFilterPlugin);
 			}
 #endif
 
 #ifdef ENABLE_STATIC_GRPC_PLUGIN
 			{
-				m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin, 0, 0, 0, processClientCommands_grpcPlugin, 0);
+				b3PluginFunctions funcs(initPlugin_grpcPlugin, exitPlugin_grpcPlugin, executePluginCommand_grpcPlugin);
+				funcs.m_processClientCommandsFunc = processClientCommands_grpcPlugin;
+				m_grpcPlugin = m_pluginManager.registerStaticLinkedPlugin("grpcPlugin", funcs);
 			}
 #endif  //ENABLE_STATIC_GRPC_PLUGIN
 
 #ifdef STATIC_EGLRENDERER_PLUGIN
 			{
 				bool initPlugin = false;
-				int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin, 0, 0, getRenderInterface_eglRendererPlugin, 0, 0, initPlugin);
+				b3PluginFunctions funcs(initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin);
+				funcs.m_getRendererFunc = getRenderInterface_eglRendererPlugin;
+				int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", funcs, initPlugin);
 				m_pluginManager.selectPluginRenderer(renderPluginId);
 			}
 #endif  //STATIC_EGLRENDERER_PLUGIN
 
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 			{
-				int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin, 0, 0, getRenderInterface_tinyRendererPlugin, 0, 0);
+				b3PluginFunctions funcs(initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin);
+				funcs.m_getRendererFunc=getRenderInterface_tinyRendererPlugin;
+				int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", funcs);
 				m_pluginManager.selectPluginRenderer(renderPluginId);
 			}
 #endif
+
+#ifdef B3_ENABLE_FILEIO_PLUGIN
+			{
+				b3PluginFunctions funcs(initPlugin_fileIOPlugin, exitPlugin_fileIOPlugin, executePluginCommand_fileIOPlugin);
+				funcs.m_fileIoFunc = getFileIOFunc_fileIOPlugin;
+				int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("fileIOPlugin", funcs);
+				m_pluginManager.selectFileIOPlugin(renderPluginId);
 			}
+#endif
+
+		
 
 		m_vrControllerEvents.init();
 
@@ -2212,7 +2248,9 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		int graphicsIndex = -1;
 		double globalScaling = 1.f;  //todo!
 		int flags = 0;
-		BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
+		CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+		
+		BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(),fileIO, globalScaling, flags);
 		u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 
 		btAlignedObjectArray<GLInstanceVertex> vertices;
@@ -2300,7 +2338,8 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
 		if (m_data->m_pluginManager.getRenderInterface())
 		{
-			m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+			CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+			m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, fileIO);
 		}
 	}
 	virtual void setBodyUniqueId(int bodyId)
@@ -3015,7 +3054,8 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-	BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), flags);
+	CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+	BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, flags);
 
 	bool useFixedBase = false;
 	MyMJCFLogger2 logger;
@@ -3037,8 +3077,8 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 	}
 
 	m_data->m_sdfRecentLoadedBodies.clear();
-
+	CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
-	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
+	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 
 	bool forceFixedBase = false;
@@ -3067,7 +3107,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 		return false;
 	}
 
-	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
+	CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 	bool loadOk = u2b.loadURDF(fileName, useFixedBase);
 
@@ -4101,9 +4142,9 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 				urdfColObj.m_geometry.m_meshFileName = fileName;
 
 				urdfColObj.m_geometry.m_meshScale = meshScale;
-
+				CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
 				pathPrefix[0] = 0;
-				if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+				if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
 				{
 					b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 				}
@@ -4112,14 +4153,16 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 				std::string out_found_filename;
 				int out_type;
 
-				bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
+				
+				bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
 				if (foundFile)
 				{
 					urdfColObj.m_geometry.m_meshFileType = out_type;
 
 					if (out_type == UrdfGeometry::FILE_STL)
 					{
-						glmesh = LoadMeshFromSTL(relativeFileName);
+						CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
+						glmesh = LoadMeshFromSTL(relativeFileName,fileIO);
 					}
 					if (out_type == UrdfGeometry::FILE_OBJ)
 					{
@@ -4127,12 +4170,13 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 
 						if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
 						{
-							glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
+							CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+							glmesh = LoadMeshFromObj(relativeFileName, pathPrefix,fileIO);
 						}
 						else
 						{
 							std::vector<tinyobj::shape_t> shapes;
-							std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str());
+							std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
 
 							//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
 							//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
@@ -4309,7 +4353,8 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
 	serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
 	double globalScaling = 1.f;
 	int flags = 0;
-	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
+	CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), fileIO, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 	btTransform localInertiaFrame;
 	localInertiaFrame.setIdentity();
@@ -4374,12 +4419,12 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
 				const std::string& error_message_prefix = "";
 				std::string out_found_filename;
 				int out_type;
-				if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+				if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
 				{
 					b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 				}
 
-				bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
+				bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
 				visualShape.m_geometry.m_meshFileType = out_type;
 				visualShape.m_geometry.m_meshFileName = fileName;
 
@@ -6692,19 +6737,21 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 	}
 
 	{
+		CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
 		char relativeFileName[1024];
 		char pathPrefix[1024];
 		pathPrefix[0] = 0;
-		if (b3ResourcePath::findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
+		if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
 		{
 			b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 		}
 		const std::string& error_message_prefix = "";
 		std::string out_found_filename;
 		int out_type;
-		bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
+		
+		bool foundFile = UrdfFindMeshFile(fileIO,pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
 		std::vector<tinyobj::shape_t> shapes;
-		std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str());
+		std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
 		if (shapes.size() > 0)
 		{
 			const tinyobj::shape_t& shape = shapes[0];
@@ -9802,7 +9849,8 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
 	char relativeFileName[1024];
 	char pathPrefix[1024];
 
-	if (b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName, relativeFileName, 1024))
+	CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
+	if (fileIO->findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName, relativeFileName, 1024))
 	{
 		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -1519,6 +1519,8 @@ public:
 		btVector3 VRTeleportPos = this->m_physicsServer.getVRTeleportPosition();
 
 		if (gEnableDefaultKeyboardShortcuts)
+		{
+			if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
 			{
 				if (key == 'w' && state)
 				{
@@ -1564,6 +1566,7 @@ public:
 					saveCurrentSettingsVR(VRTeleportPos);
 				}
 			}
+		}
 
 		return false;
 	}

examples/SharedMemory/b3PluginManager.cpp

@@ -5,7 +5,7 @@
 #include "PhysicsClientC_API.h"
 #include "PhysicsDirect.h"
 #include "plugins/b3PluginContext.h"
-
+#include "../Utils/b3BulletDefaultFileIO.h"
 #ifdef _WIN32
 #define WIN32_LEAN_AND_MEAN
 #define VC_EXTRALEAN
@@ -48,6 +48,7 @@ struct b3Plugin
 
 	PFN_GET_RENDER_INTERFACE m_getRendererFunc;
 	PFN_GET_COLLISION_INTERFACE m_getCollisionFunc;
+	PFN_GET_FILEIO_INTERFACE m_getFileIOFunc;
 
 	void* m_userPointer;
 
@@ -65,6 +66,7 @@ struct b3Plugin
 		  m_processClientCommandsFunc(0),
 		  m_getRendererFunc(0),
 		  m_getCollisionFunc(0),
+		  m_getFileIOFunc(0),
 		  m_userPointer(0)
 	{
 	}
@@ -84,6 +86,7 @@ struct b3Plugin
 		m_processClientCommandsFunc = 0;
 		m_getRendererFunc = 0;
 		m_getCollisionFunc = 0;
+		m_getFileIOFunc = 0;
 		m_userPointer = 0;
 		m_isInitialized = false;
 	}
@@ -105,9 +108,11 @@ struct b3PluginManagerInternalData
 	int m_activeRendererPluginUid;
 	int m_activeCollisionPluginUid;
 	int m_numNotificationPlugins;
+	int m_activeFileIOPluginUid;
+	b3BulletDefaultFileIO m_defaultFileIO;
 	
 	b3PluginManagerInternalData()
-		: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0)
+		: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
 	{
 	}
 };
@@ -208,6 +213,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 			std::string processClientCommandsStr = std::string("processClientCommands") + postFix;
 			std::string getRendererStr = std::string("getRenderInterface") + postFix;
 			std::string getCollisionStr = std::string("getCollisionInterface") + postFix;
+			std::string getFileIOStr = std::string("getFileIOInterface") + postFix;
 			
 			plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
 			plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
@@ -224,6 +230,8 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 
 			plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
 			plugin->m_getCollisionFunc = (PFN_GET_COLLISION_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getCollisionStr.c_str());
+			plugin->m_getFileIOFunc = (PFN_GET_FILEIO_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getFileIOStr.c_str());
+			
 
 			if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
 			{
@@ -293,6 +301,15 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 			selectCollisionPlugin(pluginUniqueId);
 		}
 	}
+	//for now, automatically select the loaded plugin as active fileIO plugin.
+	if (pluginUniqueId >= 0)
+	{
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+		if (plugin && plugin->m_getFileIOFunc)
+		{
+			selectFileIOPlugin(pluginUniqueId);
+		}
+	}
 
 	return pluginUniqueId;
 }
@@ -438,7 +455,9 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
 	return result;
 }
 
-int b3PluginManager::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)
+
+
+int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath,  b3PluginFunctions& functions, bool initPlugin)
 {
 	b3Plugin orgPlugin;
 
@@ -447,14 +466,15 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_pluginHandle = 0;
 	pluginHandle->m_ownsPluginHandle = false;
 	pluginHandle->m_pluginUniqueId = pluginUniqueId;
-	pluginHandle->m_executeCommandFunc = executeCommandFunc;
+	pluginHandle->m_executeCommandFunc = functions.m_executeCommandFunc;
-	pluginHandle->m_exitFunc = exitFunc;
+	pluginHandle->m_exitFunc = functions.m_exitFunc;
-	pluginHandle->m_initFunc = initFunc;
+	pluginHandle->m_initFunc = functions.m_initFunc;
-	pluginHandle->m_preTickFunc = preTickFunc;
+	pluginHandle->m_preTickFunc = functions.m_preTickFunc;
-	pluginHandle->m_postTickFunc = postTickFunc;
+	pluginHandle->m_postTickFunc = functions.m_postTickFunc;
-	pluginHandle->m_getRendererFunc = getRendererFunc;
+	pluginHandle->m_getRendererFunc = functions.m_getRendererFunc;
-	pluginHandle->m_getCollisionFunc = getCollisionFunc;
+	pluginHandle->m_getCollisionFunc = functions.m_getCollisionFunc;
-	pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
+	pluginHandle->m_processClientCommandsFunc = functions.m_processClientCommandsFunc;
+	pluginHandle->m_getFileIOFunc = functions.m_fileIoFunc;
 	pluginHandle->m_pluginHandle = 0;
 	pluginHandle->m_pluginPath = pluginPath;
 	pluginHandle->m_userPointer = 0;
@@ -502,6 +522,32 @@ UrdfRenderingInterface* b3PluginManager::getRenderInterface()
 	return renderer;
 }
 
+void b3PluginManager::selectFileIOPlugin(int pluginUniqueId)
+{
+	m_data->m_activeFileIOPluginUid = pluginUniqueId;
+}
+
+struct CommonFileIOInterface* b3PluginManager::getFileIOInterface()
+{
+	CommonFileIOInterface* fileIOInterface = 0;
+	if (m_data->m_activeFileIOPluginUid >= 0)
+	{
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeFileIOPluginUid);
+		if (plugin && plugin->m_getFileIOFunc)
+		{
+			b3PluginContext context = {0};
+			context.m_userPointer = plugin->m_userPointer;
+			context.m_physClient = (b3PhysicsClientHandle)m_data->m_physicsDirect;
+			fileIOInterface = plugin->m_getFileIOFunc(&context);
+		}
+	}
+	if (fileIOInterface==0)
+	{
+		return &m_data->m_defaultFileIO;
+	}
+	return fileIOInterface;
+}
+
 void b3PluginManager::selectCollisionPlugin(int pluginUniqueId)
 {
 	m_data->m_activeCollisionPluginUid = pluginUniqueId;

examples/SharedMemory/b3PluginManager.h

@@ -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();
 };

examples/SharedMemory/plugins/b3PluginAPI.h

@@ -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

examples/SharedMemory/plugins/b3PluginFileIOInterface.h

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

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -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;
+}

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.h

@@ -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

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp

@@ -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;
@@ -541,8 +542,9 @@ static btVector4 sColors[4] =
 
 void TinyRendererVisualShapeConverter::convertVisualShapes(
 	int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, 
-	const UrdfLink* linkPtr, const UrdfModel* model,
+	const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, 
-	int collisionObjectUniqueId, int bodyUniqueId)
+	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())

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h

@@ -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);
 

examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp

@@ -42,7 +42,6 @@ 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");
 }

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

@@ -22,13 +22,17 @@
 #include <string>
 #include <vector>
 #include <map>
+#ifdef USE_STREAM
 #include <fstream>
+#else
+#include "../../CommonInterfaces/CommonFileIOInterface.h"
+#endif
 #include <sstream>
-
 #include "tiny_obj_loader.h"
 
 namespace tinyobj
 {
+#ifdef USE_STREAM
 //See http://stackoverflow.com/questions/6089231/getting-std-ifstream-to-handle-lf-cr-and-crlf
 std::istream& safeGetline(std::istream& is, std::string& t)
 {
@@ -64,7 +68,7 @@ std::istream& safeGetline(std::istream& is, std::string& t)
 		}
 	}
 }
-
+#endif
 struct vertex_index
 {
 	int v_idx, vt_idx, vn_idx, dummy;
@@ -340,7 +344,8 @@ void InitMaterial(material_t& material)
 std::string LoadMtl(
 	std::map<std::string, material_t>& material_map,
 	const char* filename,
-	const char* mtl_basepath)
+	const char* mtl_basepath,
+	CommonFileIOInterface* fileIO)
 {
 	material_map.clear();
 	std::stringstream err;
@@ -355,22 +360,44 @@ std::string LoadMtl(
 	{
 		filepath = std::string(filename);
 	}
-
+#ifdef USE_STREAM
 	std::ifstream ifs(filepath.c_str());
 	if (!ifs)
 	{
 		err << "Cannot open file [" << filepath << "]" << std::endl;
 		return err.str();
 	}
+#else
+	int fileHandle = fileIO->fileOpen(filepath.c_str(),"r");
+	if (fileHandle<0)
+	{
+		err << "Cannot open file [" << filepath << "]" << std::endl;
+		return err.str();
+	}
+#endif
 
 	material_t material;
 
 	int maxchars = 8192;              // Alloc enough size.
 	std::vector<char> buf(maxchars);  // Alloc enough size.
+#ifdef USE_STREAM
 	while (ifs.peek() != -1)
+#else
+	char* line = 0;
+	do
+#endif
 	{
 		std::string linebuf;
+#ifdef USE_STREAM
 		safeGetline(ifs, linebuf);
+#else
+		char tmpBuf[1024];
+		line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+		if (line)
+		{
+			linebuf=line;
+		}
+#endif
 
 		// Trim newline '\r\n' or '\r'
 		if (linebuf.size() > 0)
@@ -546,9 +573,16 @@ std::string LoadMtl(
 			material.unknown_parameter.insert(std::pair<std::string, std::string>(key, value));
 		}
 	}
+#ifndef USE_STREAM
+	while (line);
+#endif
 	// flush last material.
 	material_map.insert(std::pair<std::string, material_t>(material.name, material));
 
+	if (fileHandle)
+	{
+		fileIO->fileClose(fileHandle);
+	}
 	return err.str();
 }
 
@@ -556,7 +590,8 @@ std::string
 LoadObj(
 	std::vector<shape_t>& shapes,
 	const char* filename,
-	const char* mtl_basepath)
+	const char* mtl_basepath,
+	CommonFileIOInterface* fileIO)
 {
 	std::string tmp = filename;
 	if (!mtl_basepath)
@@ -577,13 +612,21 @@ LoadObj(
 	MyIndices face;
 
 	std::stringstream err;
-
+#ifdef USE_STREAM
 	std::ifstream ifs(filename);
 	if (!ifs)
 	{
 		err << "Cannot open file [" << filename << "]" << std::endl;
 		return err.str();
 	}
+#else
+	int fileHandle = fileIO->fileOpen(filename,"r");
+	if (fileHandle<0)
+	{
+		err << "Cannot open file [" << filename << "]" << std::endl;
+		return err.str();
+	}
+#endif
 
 	std::vector<float> v;
 	v.reserve(1024 * 1024);
@@ -606,10 +649,24 @@ LoadObj(
 	std::string linebuf;
 	linebuf.reserve(maxchars);
 
+#ifdef USE_STREAM
 	while (ifs.peek() != -1)
+#else
+	char* line = 0;
+	do
+#endif
 	{
 		linebuf.resize(0);
+#ifdef USE_STREAM
 		safeGetline(ifs, linebuf);
+#else
+		char tmpBuf[1024];
+		line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+		if (line)
+		{
+			linebuf=line;
+		}
+#endif
 
 		// Trim newline '\r\n' or '\r'
 		if (linebuf.size() > 0)
@@ -720,7 +777,7 @@ LoadObj(
 			token += 7;
 			sscanf(token, "%s", namebuf);
 
-			std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath);
+			std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath,fileIO);
 			if (!err_mtl.empty())
 			{
 				//faceGroup.resize(0);  // for safety
@@ -789,6 +846,9 @@ LoadObj(
 
 		// Ignore unknown command.
 	}
+#ifndef USE_STREAM
+	while (line);
+#endif
 
 	shape_t shape;
 	bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name, allIndices);
@@ -798,6 +858,10 @@ LoadObj(
 	}
 	faceGroup.resize(0);  // for safety
 
+	if (fileHandle)
+	{
+		fileIO->fileClose(fileHandle);
+	}
 	return err.str();
 }
 

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h

@@ -10,6 +10,8 @@
 #include <vector>
 #include <map>
 
+struct CommonFileIOInterface;
+
 namespace tinyobj
 {
 typedef struct
@@ -51,10 +53,19 @@ typedef struct
 /// The function returns error string.
 /// Returns empty string when loading .obj success.
 /// 'mtl_basepath' is optional, and used for base path for .mtl file.
+#ifdef USE_STREAM
 std::string LoadObj(
 	std::vector<shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath = NULL);
+#else
+std::string
+LoadObj(
+	std::vector<shape_t>& shapes,
+	const char* filename,
+	const char* mtl_basepath,
+	CommonFileIOInterface* fileIO);
+#endif
 
 };  // namespace tinyobj
 

examples/TinyRenderer/TinyRenderer.cpp

@@ -13,7 +13,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 #include "Bullet3Common/b3Logging.h"
-
+#include "../CommonInterfaces/CommonFileIOInterface.h"
 struct DepthShader : public IShader
 {
 	Model* m_model;
@@ -264,11 +264,11 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
 	m_lightSpecularCoeff = 0.05;
 }
 
-void TinyRenderObjectData::loadModel(const char* fileName)
+void TinyRenderObjectData::loadModel(const char* fileName, CommonFileIOInterface* fileIO)
 {
 	//todo(erwincoumans) move the file loading out of here
 	char relativeFileName[1024];
-	if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+	if (!fileIO->findResourcePath(fileName, relativeFileName, 1024))
 	{
 		printf("Cannot find file %s\n", fileName);
 	}
@@ -335,7 +335,7 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
 	}
 }
 
-void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices)
+void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices, CommonFileIOInterface* fileIO)
 {
 	if (0 == m_model)
 	{
@@ -344,7 +344,7 @@ void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertic
 
 		m_model = new Model();
 		char relativeFileName[1024];
-		if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+		if (fileIO->findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
 		{
 			m_model->loadDiffuseTexture(relativeFileName);
 		}
@@ -368,12 +368,12 @@ void TinyRenderObjectData::registerMesh2(btAlignedObjectArray<btVector3>& vertic
 	}
 }
 
-void TinyRenderObjectData::createCube(float halfExtentsX, float halfExtentsY, float halfExtentsZ)
+void TinyRenderObjectData::createCube(float halfExtentsX, float halfExtentsY, float halfExtentsZ, CommonFileIOInterface* fileIO)
 {
 	m_model = new Model();
 
 	char relativeFileName[1024];
-	if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+	if (fileIO->findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
 	{
 		m_model->loadDiffuseTexture(relativeFileName);
 	}

examples/TinyRenderer/TinyRenderer.h

@@ -41,12 +41,12 @@ struct TinyRenderObjectData
 	TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex);
 	virtual ~TinyRenderObjectData();
 
-	void loadModel(const char* fileName);
+	void loadModel(const char* fileName, struct CommonFileIOInterface* fileIO);
-	void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ);
+	void createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ, struct CommonFileIOInterface* fileIO);
 	void registerMeshShape(const float* vertices, int numVertices, const int* indices, int numIndices, const float rgbaColor[4],
 						   unsigned char* textureImage = 0, int textureWidth = 0, int textureHeight = 0);
 
-	void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices);
+	void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals, btAlignedObjectArray<int>& indices, struct CommonFileIOInterface* fileIO);
 
 	void* m_userData;
 	int m_userIndex;

examples/Utils/b3BulletDefaultFileIO.h

@@ -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

examples/Utils/b3ResourcePath.cpp

@@ -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);
 			}

examples/Utils/b3ResourcePath.h

@@ -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

test/InverseDynamics/test_invdyn_bullet.cpp

@@ -47,7 +47,7 @@ TEST(InvDynCompare, bulletUrdfR2D2)
 
 	char relativeFileName[1024];
 
-	ASSERT_TRUE(b3ResourcePath::findResourcePath(kUrdfFile, relativeFileName, 1024));
+	ASSERT_TRUE(b3ResourcePath::findResourcePath(kUrdfFile, relativeFileName, 1024,0));
 
 	mb_load.setFileName(relativeFileName);
 	mb_load.init();