| 34 | |
| 35 | #define LOCTEXT_NAMESPACE "FURLabModule" |
| 36 | void FURLabModule::StartupModule() |
| 37 | { |
| 38 | FString PluginDir = IPluginManager::Get().FindPlugin("UnrealRoboticsLab")->GetBaseDir(); |
| 39 | FString InstallDir = FPaths::Combine(PluginDir, TEXT("third_party/install")); |
| 40 | |
| 41 | // Resolve LibraryPattern (literal filename or shell-style wildcard) to |
| 42 | // an absolute path inside SearchDir, or empty if no file matches. |
| 43 | auto ResolveLibraryFile = [](const FString& SearchDir, const FString& LibraryPattern) -> FString { |
| 44 | if (!LibraryPattern.Contains(TEXT("*"))) |
| 45 | { |
| 46 | const FString Candidate = FPaths::Combine(SearchDir, LibraryPattern); |
| 47 | return FPaths::FileExists(Candidate) ? Candidate : FString(); |
| 48 | } |
| 49 | TArray<FString> Matches; |
| 50 | IFileManager::Get().FindFiles(Matches, *FPaths::Combine(SearchDir, LibraryPattern), |
| 51 | /*Files=*/true, /*Directories=*/false); |
| 52 | return Matches.Num() > 0 ? FPaths::Combine(SearchDir, Matches[0]) : FString(); |
| 53 | }; |
| 54 | |
| 55 | // Load a shared library and log success/failure. LibraryPattern may |
| 56 | // contain `*` so we can match toolset-versioned filenames (libzmq bakes |
| 57 | // the MSVC toolset version into its DLL name; building with a different |
| 58 | // toolset than the URLab hardcode used to surface as a delay-load |
| 59 | // 0xc06d007e on first ZMQ call). BinSubDir is the per-package |
| 60 | // subdirectory under third_party/install/<SubDir>/ that holds the |
| 61 | // loadable artifact: "bin" on Windows (DLLs), "lib" on Linux (.so). |
| 62 | auto LoadDependencyDLL = [&](const FString& LibraryPattern, const FString& SubDir, const FString& BinSubDir) { |
| 63 | // Try plugin third-party path first (editor / development). |
| 64 | FString DLLPath = ResolveLibraryFile(FPaths::Combine(InstallDir, SubDir, BinSubDir), LibraryPattern); |
| 65 | if (DLLPath.IsEmpty()) |
| 66 | { |
| 67 | // Packaged build: shared libs staged next to the executable. |
| 68 | DLLPath = ResolveLibraryFile(FPlatformProcess::GetModulesDirectory(), LibraryPattern); |
| 69 | } |
| 70 | if (DLLPath.IsEmpty()) |
| 71 | { |
| 72 | UE_LOG(LogURLab, Error, |
| 73 | TEXT("%s not found in third_party/install/%s/%s or the modules directory. " |
| 74 | "Run third_party/build_all.ps1 (Windows) or build_all.sh (Linux/macOS) " |
| 75 | "from the plugin root, then rebuild the editor."), |
| 76 | *LibraryPattern, *SubDir, *BinSubDir); |
| 77 | return false; |
| 78 | } |
| 79 | void* Handle = FPlatformProcess::GetDllHandle(*DLLPath); |
| 80 | if (Handle) |
| 81 | { |
| 82 | UE_LOG(LogURLab, Log, TEXT("Loaded %s from %s"), *FPaths::GetCleanFilename(DLLPath), *DLLPath); |
| 83 | return true; |
| 84 | } |
| 85 | UE_LOG(LogURLab, Error, TEXT("Failed to load %s (GetLastError surfaces in delay-load fault otherwise)"), *DLLPath); |
| 86 | return false; |
| 87 | }; |
| 88 | |
| 89 | bool bAllDepsLoaded = true; |
| 90 | #if PLATFORM_WINDOWS |
| 91 | // Load MuJoCo. Since 3.7.0 the obj/stl decoders are compiled into |
| 92 | // mujoco.dll itself (changelog item 9); loading the standalone |
| 93 | // obj_decoder.dll / stl_decoder.dll would cause a plugin-registration |