example for fileIOPlugin.py loading SDF and its assets from a single zipfile,

also show how to disable file caching (used in the fileIOPlugin)

examples/CommonInterfaces/CommonFileIOInterface.h

@@ -22,7 +22,7 @@ struct CommonFileIOInterface
 	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;
-
+	virtual void enableFileCaching(bool enable) = 0;
 };
 
 #endif //COMMON_FILE_IO_INTERFACE_H

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -8004,6 +8004,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 	if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_FILE_CACHING)
 	{
 		b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
+		m_data->m_pluginManager.getFileIOInterface()->enableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching!=0);
 	}
 
 	SharedMemoryStatus& serverCmd = serverStatusOut;

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -283,6 +283,11 @@ struct InMemoryFileIO : public CommonFileIOInterface
 		}
 		return 0;
 	}
+
+	virtual void enableFileCaching(bool enable)
+	{
+		(void)enable;
+	}
 };
 
 struct WrapperFileIO : public CommonFileIOInterface
@@ -292,10 +297,12 @@ struct WrapperFileIO : public CommonFileIOInterface
 
 	WrapperFileHandle m_wrapperFileHandles[B3_MAX_FILEIO_INTERFACES];
 	InMemoryFileIO m_cachedFiles;
+	bool m_enableFileCaching;
 
 	WrapperFileIO()
 		:CommonFileIOInterface(0,0),
-		m_numWrapperInterfaces(0)
+		m_numWrapperInterfaces(0),
+		m_enableFileCaching(true)
 	{
 		for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
 		{
@@ -406,7 +413,10 @@ struct WrapperFileIO : public CommonFileIOInterface
 							}
 
 							//potentially register a zero byte file, or files that only can be read partially
-							m_cachedFiles.registerFile(fileName,buffer, fileSize);
+							if (m_enableFileCaching)
+							{
+								m_cachedFiles.registerFile(fileName, buffer, fileSize);
+							}
 							childFileIO->fileClose(childHandle);
 							break;
 						}
@@ -525,6 +535,15 @@ struct WrapperFileIO : public CommonFileIOInterface
 		return numBytes;
 	}
 
+	virtual void enableFileCaching(bool enable)
+	{
+		m_enableFileCaching = enable;
+		if (!enable)
+		{
+			m_cachedFiles.clearCache();
+		}
+	}
+
 };
 
 

examples/SharedMemory/plugins/fileIOPlugin/zipFileIO.h

@@ -252,5 +252,10 @@ struct ZipFileIO : public CommonFileIOInterface
 		}
 		return size;
 	}
-	
+
+	virtual void enableFileCaching(bool enable)
+	{
+		(void)enable;
+	}
+
 };

examples/Utils/b3BulletDefaultFileIO.h

@@ -186,6 +186,11 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
 		}
 		return size;
 	}
+
+	virtual void enableFileCaching(bool enable)
+	{
+		(void) enable;
+	}
 };
 
 #endif //B3_BULLET_DEFAULT_FILE_IO_H

examples/pybullet/examples/fileIOPlugin.py

@@ -0,0 +1,20 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+fileIO = p.loadPlugin("fileIOPlugin")
+if (fileIO>=0):
+	p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO])
+	objs= p.loadSDF("pickup/model.sdf")
+	dobot =objs[0]
+	p.changeVisualShape(dobot,-1,rgbaColor=[1,1,1,1])
+		
+else:
+	print("fileIOPlugin is disabled.")
+
+
+p.setPhysicsEngineParameter(enableFileCaching=False)
+
+while (1):
+	p.stepSimulation()
+	time.sleep(1./240.)