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