mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
87293e835c
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor Bug fixes in b3ResourcePath::findResourcePath resolution. add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium minor fixes to obj2sdf
118 lines
3.0 KiB
C++
118 lines
3.0 KiB
C++
#include "b3ResourcePath.h"
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#include "Bullet3Common/b3Logging.h"
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#ifdef __APPLE__
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#include <mach-o/dyld.h> /* _NSGetExecutablePath */
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#else
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#ifdef _WIN32
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#include <windows.h>
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#else
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//not Mac, not Windows, let's cross the fingers it is Linux :-)
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#include <unistd.h>
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#endif
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#endif
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#include "Bullet3Common/b3FileUtils.h"
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#define B3_MAX_EXE_PATH_LEN 4096
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int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
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{
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int numBytes = 0;
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#if __APPLE__
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uint32_t bufsize = uint32_t(maxPathLenInBytes);
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if (_NSGetExecutablePath(path, &bufsize)!=0)
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{
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b3Warning("Cannot find executable path\n");
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return false;
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} else
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{
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numBytes = strlen(path);
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}
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#else
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#ifdef _WIN32
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//https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx
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HMODULE hModule = GetModuleHandle(NULL);
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numBytes = GetModuleFileNameA(hModule, path, maxPathLenInBytes);
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#else
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///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c
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numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);
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if (numBytes > 0)
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{
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path[numBytes] = 0;
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} else
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{
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b3Warning("Cannot find executable path\n");
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}
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#endif //_WIN32
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#endif //__APPLE__
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return numBytes;
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}
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struct TempResourcePath
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{
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char* m_path;
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TempResourcePath(int len)
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{
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m_path = (char*)malloc(len);
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memset(m_path,0,len);
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}
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virtual ~TempResourcePath()
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{
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free(m_path);
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}
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};
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int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes)
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{
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//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
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char exePath[B3_MAX_EXE_PATH_LEN];
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bool res = b3FileUtils::findFile(resourceName, resourcePathOut, resourcePathMaxNumBytes);
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if (res)
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{
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return strlen(resourcePathOut);
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}
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int l = b3ResourcePath::getExePath(exePath, B3_MAX_EXE_PATH_LEN);
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if (l)
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{
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char pathToExe[B3_MAX_EXE_PATH_LEN];
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int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
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if (exeNamePos)
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{
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TempResourcePath tmpPath(resourcePathMaxNumBytes+1024);
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char* resourcePathIn = tmpPath.m_path;
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sprintf(resourcePathIn,"%s../data/%s",pathToExe,resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
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{
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return strlen(resourcePathOut);
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}
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sprintf(resourcePathIn,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
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{
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return strlen(resourcePathOut);
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}
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sprintf(resourcePathIn,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
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{
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return strlen(resourcePathOut);
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}
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}
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}
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return 0;
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}
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