fixfileio

python3kgae · Jun 29, 2022 · 913be16 · 913be16
1 parent 1871788
commit 913be16
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Showing 5 changed files with 22 additions and 20 deletions.
diff --git a/projects/Rigid/RigidTest.cpp b/projects/Rigid/RigidTest.cpp
@@ -240,7 +240,7 @@ struct PrimitiveConvexDecompositionV : zeno::INode {
 
         unsigned int nConvexHulls = interfaceVHACD->GetNConvexHulls();
         //std::cout<< "Generate output:" << nConvexHulls << " convex-hulls" << std::endl;
-        log_debugf("Generate output: %d convex-hulls \n", nConvexHulls);
+        printf("Generate output: %d convex-hulls \n", nConvexHulls);
 
         bool good_ch_flag = true;
         VHACD::IVHACD::ConvexHull ch;
@@ -334,11 +334,11 @@ struct PrimitiveConvexDecomposition : zeno::INode {
         auto listPrim = std::make_shared<zeno::ListObject>();
         listPrim->arr.clear();
 
-        log_debugf("hacd got %d clusters\n", nClusters);
+        printf("hacd got %d clusters\n", nClusters);
         for (size_t c = 0; c < nClusters; c++) {
             size_t nPoints = hacd.GetNPointsCH(c);
             size_t nTriangles = hacd.GetNTrianglesCH(c);
-            log_debugf("hacd cluster %d have %d points, %d triangles\n",
+            printf("hacd cluster %d have %d points, %d triangles\n",
                        c, nPoints, nTriangles);
 
             points.clear();
@@ -1490,7 +1490,7 @@ ZENDEFNODE(BulletWorldRemoveObject, {
 struct BulletWorldSetObjList : zeno::INode {
     virtual void apply() override {
         auto world = get_input<BulletWorld>("world");
-        auto objList = get_input<ListObject>("objList")->get<std::shared_ptr<BulletObject>>();
+        auto objList = get_input<ListObject>("objList")->get<std::decay_t<BulletObject>>();
         world->setObjectList(std::move(objList));
         set_output("world", get_input("world"));
     }
@@ -1538,7 +1538,7 @@ ZENDEFNODE(BulletWorldRemoveConstraint, {
 struct BulletWorldSetConsList : zeno::INode {
     virtual void apply() override {
         auto world = get_input<BulletWorld>("world");
-        auto consList = get_input<ListObject>("consList")->get<std::shared_ptr<BulletConstraint>>();
+        auto consList = get_input<ListObject>("consList")->get<std::decay_t<BulletConstraint>>();
         world->setConstraintList(std::move(consList));
         set_output("world", get_input("world"));
     }
@@ -2026,7 +2026,7 @@ struct BulletMultiBodyPDControl : zeno::INode {
         if (has_input("qDesiredList")){
             {
                 auto numericObjs = get_input<zeno::ListObject>(
-                    "qDesiredList")->get<std::shared_ptr<NumericObject>>();
+                    "qDesiredList")->get<std::decay_t<NumericObject>>();
                 for (auto &&no: numericObjs)
                     qDesiredArray.push_back(no->get<float>());
             }
@@ -2038,7 +2038,7 @@ struct BulletMultiBodyPDControl : zeno::INode {
 		if (has_input("dqDesiredList")) {
             {
                 auto numericObjs = get_input<zeno::ListObject>(
-                    "dqDesiredList")->get<std::shared_ptr<NumericObject>>();
+                    "dqDesiredList")->get<std::decay_t<NumericObject>>();
                 for (auto &&no: numericObjs)
                     qdDesiredArray.push_back(no->get<float>());
             }
@@ -2308,7 +2308,7 @@ struct BulletCalcInverseKinematics : zeno::INode {
         std::vector<int> endEffectorLinkIndices;
         {
             auto numericObjs = get_input<zeno::ListObject>(
-                "endEffectorLinkIndices")->get<std::shared_ptr<NumericObject>>();
+                "endEffectorLinkIndices")->get<std::decay_t<NumericObject>>();
             for (auto &&no: numericObjs)
                 endEffectorLinkIndices.push_back(no->get<int>());
         }
@@ -2318,14 +2318,14 @@ struct BulletCalcInverseKinematics : zeno::INode {
         std::vector<vec3f> targetPositions;
         {
             auto numericObjs = get_input<zeno::ListObject>(
-                "targetPositions")->get<std::shared_ptr<NumericObject>>();
+                "targetPositions")->get<std::decay_t<NumericObject>>();
             for (auto &&no: numericObjs)
                 targetPositions.push_back(no->get<vec3f>());
         }
 
         std::vector<vec4f> targetOrientations;
         {
-            auto numericObjs = get_input<zeno::ListObject>("targetOrientations")->get<std::shared_ptr<NumericObject>>();
+            auto numericObjs = get_input<zeno::ListObject>("targetOrientations")->get<std::decay_t<NumericObject>>();
             for (auto &&no : numericObjs)
                 targetOrientations.push_back(no->get<vec4f>());
         }
@@ -2942,23 +2942,23 @@ struct BulletMultiBodyCalculateJacobian : zeno::INode {
         std::vector<float> jointPositionsQ;
         {
             auto numericObjs = get_input<zeno::ListObject>("jointPositionsQ")
-                                   ->get<std::shared_ptr<NumericObject>>();
+                                   ->get<std::decay_t<NumericObject>>();
             for (auto &&no : numericObjs)
                 jointPositionsQ.push_back(no->get<float>());
         }
 
         std::vector<float> jointVelocitiesQd;
         {
             auto numericObjs = get_input<zeno::ListObject>("jointVelocitiesQd")
-                                   ->get<std::shared_ptr<NumericObject>>();
+                                   ->get<std::decay_t<NumericObject>>();
             for (auto &&no : numericObjs)
                 jointVelocitiesQd.push_back(no->get<float>());
         }
 
         std::vector<float> jointAccelerations;
         {
             auto numericObjs = get_input<zeno::ListObject>("jointAccelerations")
-                                   ->get<std::shared_ptr<NumericObject>>();
+                                   ->get<std::decay_t<NumericObject>>();
             for (auto &&no : numericObjs)
                 jointAccelerations.push_back(no->get<float>());
         }
@@ -3141,7 +3141,7 @@ struct BulletMultiBodyCalculateMassMatrix : zeno::INode {
         std::vector<float> jointPositionsQ;
         {
             auto numericObjs = get_input<zeno::ListObject>("jointPositionsQ")
-                                   ->get<std::shared_ptr<NumericObject>>();
+                                   ->get<std::decay_t<NumericObject>>();
             for (auto &&no : numericObjs)
                 jointPositionsQ.push_back(no->get<float>());
         }

diff --git a/projects/Rigid/bullet3/src/URDFImporter/BulletUrdfImporter.cpp b/projects/Rigid/bullet3/src/URDFImporter/BulletUrdfImporter.cpp
@@ -624,7 +624,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					else
 					{
 						std::vector<std::shared_ptr<zeno::PrimitiveObject>> shapes;
-						auto singleObj = wenqiang_parse_obj(file_get_binary(collision->m_geometry.m_meshFileName)); // TODO: fake multi-group here, implement later.
+						auto singleObj = wenqiang_parse_obj(zeno::file_get_binary(collision->m_geometry.m_meshFileName)); // TODO: fake multi-group here, implement later.
                         shapes.push_back(std::move(singleObj));
                         //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);

diff --git a/projects/Rigid/bullet3/src/URDFImporter/CMakeLists.txt b/projects/Rigid/bullet3/src/URDFImporter/CMakeLists.txt
@@ -1,6 +1,7 @@
 INCLUDE_DIRECTORIES(
         ${BULLET_PHYSICS_SOURCE_DIR}/src
         ${BULLET_PHYSICS_SOURCE_DIR}/../../../zeno/include
+        ${BULLET_PHYSICS_SOURCE_DIR}/../../../zeno/tpls/include
 )
 
 SET(URDF_SRCS
@@ -30,13 +31,13 @@ SET(URDF_HDRS
     ShapeData.h
         ReadObjPrim.h b3ImportMeshUtility.h URDFImporterInterface.h)
 
-ADD_LIBRARY(URDFImporter ${URDF_SRCS} ${URDF_HDRS})
+    ADD_LIBRARY(URDFImporter STATIC ${URDF_SRCS} ${URDF_HDRS})
 TARGET_INCLUDE_DIRECTORIES(
         URDFImporter PUBLIC .
 )
 
 IF (BUILD_SHARED_LIBS)
-    TARGET_LINK_LIBRARIES(URDFImporter BulletCollision LinearMath Zeno)
+    TARGET_LINK_LIBRARIES(URDFImporter BulletCollision LinearMath)
 ENDIF (BUILD_SHARED_LIBS)
 
 IF (NOT MSVC)

diff --git a/projects/Rigid/bullet3/src/URDFImporter/b3ImportMeshUtility.cpp b/projects/Rigid/bullet3/src/URDFImporter/b3ImportMeshUtility.cpp
@@ -62,7 +62,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
         btVector3 shift(0, 0, 0);
 
         std::string path = relativeFileName;
-        std::shared_ptr<zeno::PrimitiveObject> shape = wenqiang_parse_obj(file_get_binary(path));
+        std::shared_ptr<zeno::PrimitiveObject> shape = wenqiang_parse_obj(zeno::file_get_binary(path));
 
         {
             // TODO: handle texture later

diff --git a/zeno/include/zeno/utils/fileio.h b/zeno/include/zeno/utils/fileio.h
@@ -3,6 +3,7 @@
 #include <string>
 #include <fstream>
 #include <cstdio>
+#include <vector>
 
 namespace zeno {
 
@@ -25,7 +26,7 @@ static bool file_exists(std::string const &path) {
   return (bool)fin;
 }
 
-template <class Arr>
+template <class Arr = std::vector<char>>
 static Arr file_get_binary(std::string const &path) {
   char const *filename = path.c_str();
   FILE *fp = fopen(filename, "rb");
@@ -82,7 +83,7 @@ static bool file_put_binary(char const *arr_data, size_t arr_size, std::string c
   return true;
 }
 
-template <class Arr>
+template <class Arr = std::vector<char>>
 static bool file_put_binary(Arr const &arr, std::string const &path) {
     return file_put_binary(std::data(arr), std::size(arr), path);
 }