AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-05 15:21:06 +00:00
Code Issues Releases Wiki Activity

First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface.

Browse Source 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
This commit is contained in:
erwincoumans 2018-10-08 21:27:08 -07:00
parent a1543714f1
commit dba239fe8d
49 changed files with 1211 additions and 322 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
View File

@ -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);

7
Extras/obj2sdf/obj2sdf.cpp
View File

@ -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");

19
examples/CommonInterfaces/CommonFileIOInterface.h Normal file
View File

@ -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

6
examples/ExtendedTutorials/RigidBodyFromObj.cpp
View File

@ -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);

9
examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
View File

@ -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

27
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@ -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

3
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
View File

@ -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

30
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@ -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
@ -203,13 +206,16 @@ 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:

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
View File

@ -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);

5
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
View File

@ -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)

34
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
View File

@ -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;

2
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
View File

@ -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

6
examples/Importers/ImportObjDemo/ImportObjExample.cpp
View File

@ -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)

10
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
View File

@ -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);
}
{

6
examples/Importers/ImportObjDemo/LoadMeshFromObj.h
View File

@ -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

2
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
View File

@ -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);

8
examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
View File

@ -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);

19
examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
View File

@ -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");
if (file)
int fileHandle = fileIO->fileOpen(relativeFileName, "rb");
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);
}
else
{
if (size)
if (size>=0)
{
//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)
{

187
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@ -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);
}
}
}
@ -1403,18 +1338,18 @@ class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIn
{
const UrdfCollision& col = link->m_collisionArray[v];
btCollisionShape* childShape = convertURDFToCollisionShape(&col, pathPrefix);
m_data->m_allocatedCollisionShapes.push_back(childShape);
if (childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)childShape;
for (int i = 0; i < compound->getNumChildShapes(); i++)
{
m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
}
}
if (childShape)
{
m_data->m_allocatedCollisionShapes.push_back(childShape);
if (childShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)childShape;
for (int i = 0; i < compound->getNumChildShapes(); i++)
{
m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
}
}
btTransform childTrans = col.m_linkLocalFrame;
compoundShape->addChildShape(localInertiaFrame.inverse() * childTrans, childShape);

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@ -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();

3
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@ -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);

116
examples/Importers/ImportURDFDemo/UrdfFindMeshFile.h Normal file
View File

@ -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

9
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -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)

8
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@ -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)

2
examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
View File

@ -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;

2
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@ -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)
{

2
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@ -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);

5
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@ -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;

4
examples/RenderingExamples/TinyVRGui.cpp
View File

@ -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,

2
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
View File

@ -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);

102
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -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();
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 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);

85
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -1520,48 +1520,51 @@ public:
if (gEnableDefaultKeyboardShortcuts)
{
if (key == 'w' && state)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
VRTeleportPos[0] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 's' && state)
{
VRTeleportPos[0] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'a' && state)
{
VRTeleportPos[1] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'd' && state)
{
VRTeleportPos[1] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'q' && state)
{
VRTeleportPos[2] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'e' && state)
{
VRTeleportPos[2] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'z' && state)
{
gVRTeleportRotZ += shift;
btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
saveCurrentSettingsVR(VRTeleportPos);
if (key == 'w' && state)
{
VRTeleportPos[0] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 's' && state)
{
VRTeleportPos[0] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'a' && state)
{
VRTeleportPos[1] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'd' && state)
{
VRTeleportPos[1] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'q' && state)
{
VRTeleportPos[2] += shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'e' && state)
{
VRTeleportPos[2] -= shift;
m_physicsServer.setVRTeleportPosition(VRTeleportPos);
saveCurrentSettingsVR(VRTeleportPos);
}
if (key == 'z' && state)
{
gVRTeleportRotZ += shift;
btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
saveCurrentSettingsVR(VRTeleportPos);
}
}
}

72
examples/SharedMemory/b3PluginManager.cpp
View File

@ -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)
{
}
};
@ -208,7 +213,8 @@ 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());
plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.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_exitFunc = exitFunc;
pluginHandle->m_initFunc = initFunc;
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_getRendererFunc = getRendererFunc;
pluginHandle->m_getCollisionFunc = getCollisionFunc;
pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
pluginHandle->m_executeCommandFunc = functions.m_executeCommandFunc;
pluginHandle->m_exitFunc = functions.m_exitFunc;
pluginHandle->m_initFunc = functions.m_initFunc;
pluginHandle->m_preTickFunc = functions.m_preTickFunc;
pluginHandle->m_postTickFunc = functions.m_postTickFunc;
pluginHandle->m_getRendererFunc = functions.m_getRendererFunc;
pluginHandle->m_getCollisionFunc = functions.m_getCollisionFunc;
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;

36
examples/SharedMemory/b3PluginManager.h
View File

@ -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();
};

2
examples/SharedMemory/plugins/b3PluginAPI.h
View File

@ -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

1
examples/SharedMemory/plugins/b3PluginFileIOInterface.h Normal file
View File

@ -0,0 +1 @@
#error

333
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp Normal file
View File

@ -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;
}

24
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.h Normal file
View File

@ -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

18
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@ -182,7 +182,7 @@ void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff
m_data->m_hasLightSpecularCoeff = true;
}
void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO)
{
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0;
@ -322,7 +322,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
{
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{
if (meshData.m_textureImage1)
{
@ -338,7 +338,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
break;
}
case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
break;
case UrdfGeometry::FILE_COLLADA:
{
@ -354,7 +354,8 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
upAxis,
fileIO);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
@ -540,9 +541,10 @@ static btVector4 sColors[4] =
};
void TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId)
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId,
int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
@ -663,7 +665,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape);
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO);
}
if (vertices.size() && indices.size())

2
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
View File

@ -11,7 +11,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
virtual int getNumVisualShapes(int bodyUniqueId);

5
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp
View File

@ -41,8 +41,7 @@ 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");
}

78
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@ -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();
}

11
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
View File

@ -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

14
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -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);
}

6
examples/TinyRenderer/TinyRenderer.h
View File

@ -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 createCube(float HalfExtentsX, float HalfExtentsY, float HalfExtentsZ);
void loadModel(const char* fileName, struct CommonFileIOInterface* fileIO);
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;

175
examples/Utils/b3BulletDefaultFileIO.h Normal file
View File

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

21
examples/Utils/b3ResourcePath.cpp
View File

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

4
examples/Utils/b3ResourcePath.h
View File

@ -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

2
test/InverseDynamics/test_invdyn_bullet.cpp
View File

@ -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();