Add compiler settings to mjmModel.

PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1

src/xml/xml.cc

@@ -376,9 +376,9 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
 
       // set reasonable default for parsing a URDF
       // this is separate from the Parser to allow multiple URDFs to be loaded.
-      model->strippath = true;
-      model->fusestatic = true;
-      model->discardvisual = true;
+      model->spec.strippath = true;
+      model->spec.fusestatic = true;
+      model->spec.discardvisual = true;
 
       parser.SetModel(model);
       parser.Parse(root);

src/xml/xml_native_reader.cc

@@ -818,7 +818,7 @@ void mjXReader::Parse(XMLElement* root) {
 
   for (XMLElement* section = FirstChildElement(root, "compiler"); section;
        section = NextSiblingElement(section, "compiler")) {
-    Compiler(section, model);
+    Compiler(section, &model->spec);
   }
 
   for (XMLElement* section = FirstChildElement(root, "option"); section;
@@ -909,7 +909,7 @@ void mjXReader::Parse(XMLElement* root) {
 
 
 // compiler section parser
-void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
+void mjXReader::Compiler(XMLElement* section, mjmModel* mod) {
   string text;
   int n;
 
@@ -945,12 +945,17 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
     memcpy(mod->euler, text.c_str(), 3);
   }
   if (ReadAttrTxt(section, "assetdir", text)) {
-    mod->meshdir = text;
-    mod->texturedir = text;
+    mjm_setString(mod->meshdir, text.c_str());
+    mjm_setString(mod->texturedir, text.c_str());
   }
   // meshdir and texturedir take precedence over assetdir
-  ReadAttrTxt(section, "meshdir", mod->meshdir);
-  ReadAttrTxt(section, "texturedir", mod->texturedir);
+  std::string meshdir, texturedir;
+  if (ReadAttrTxt(section, "meshdir", meshdir)) {
+    mjm_setString(mod->meshdir, meshdir.c_str());
+  };
+  if (ReadAttrTxt(section, "texturedir", texturedir)) {
+    mjm_setString(mod->texturedir, texturedir.c_str());
+  }
   if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
     mod->discardvisual = (n==1);
   }

src/xml/xml_native_reader.h

@@ -43,7 +43,7 @@ class mjXReader : public mjXBase {
   void SetTextureDir(std::string texturedir);
 
   // XML sections embedded in all formats
-  static void Compiler(tinyxml2::XMLElement* section, mjCModel* mod);  // compiler section
+  static void Compiler(tinyxml2::XMLElement* section, mjmModel* mod);  // compiler section
   static void Option(tinyxml2::XMLElement* section, mjOption* opt);    // option section
   static void Size(tinyxml2::XMLElement* section, mjCModel* mod);      // size section
 

src/xml/xml_native_writer.cc

@@ -821,11 +821,11 @@ void mjXWriter::Compiler(XMLElement* root) {
     WriteAttrTxt(section, "convexhull", FindValue(bool_map, 2, model->convexhull));
   }
   WriteAttrTxt(section, "angle", "radian");
-  if (!model->meshdir.empty()) {
-    WriteAttrTxt(section, "meshdir", model->meshdir);
+  if (!model->get_meshdir().empty()) {
+    WriteAttrTxt(section, "meshdir", model->get_meshdir());
   }
-  if (!model->texturedir.empty()) {
-    WriteAttrTxt(section, "texturedir", model->texturedir);
+  if (!model->get_texturedir().empty()) {
+    WriteAttrTxt(section, "texturedir", model->get_texturedir());
   }
   if (!model->usethread) {
     WriteAttrTxt(section, "usethread", "false");

src/xml/xml_urdf.cc

@@ -93,7 +93,7 @@ void mjXURDF::Parse(
   if (mjc) {
     XMLElement *section;
     if ((section = FindSubElem(mjc, "compiler"))) {
-      mjXReader::Compiler(section, model);
+      mjXReader::Compiler(section, &model->spec);
     }
 
     if ((section = FindSubElem(mjc, "option"))) {
@@ -106,7 +106,7 @@ void mjXURDF::Parse(
   }
 
   // enforce required compiler defaults for URDF
-  model->degree = false;
+  model->spec.degree = false;
 
   // get model name
   ReadAttrTxt(root, "name", model->modelname);
@@ -310,7 +310,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
         }
       }
       // create geom if not discarded
-      if (!model->discardvisual) {
+      if (!model->spec.discardvisual) {
         pgeom = Geom(elem, pbody, false);
 
         // save color
@@ -563,7 +563,7 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
                                       .value_or(default_meshscale);
 
     // strip file name if necessary
-    if (model->strippath) {
+    if (model->spec.strippath) {
       meshfile = mjuu_strippath(meshfile);
     }