Add VFS parameter to mjpDecoder decoding function.

PiperOrigin-RevId: 846242734
Change-Id: I317e11e6fcd965f66416abcf690a3a65d043e9ee

src/user/user_api.cc

@@ -107,7 +107,7 @@ mjSpec* mj_parse(const char* filename, const char* content_type,
     memcpy(resource->name, fullname.c_str(), sizeof(char) * (n + 1));
   }
 
-  mjSpec* spec = mju_decodeResource(resource, content_type);
+  mjSpec* spec = mju_decodeResource(resource, content_type, vfs);
   mju_closeResource(resource);
   return spec;
 }

src/user/user_resource.cc

@@ -265,7 +265,7 @@ int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
   return FileModified(resource, timestamp);
 }
 
-mjSpec* mju_decodeResource(mjResource* resource, const char* content_type) {
+mjSpec* mju_decodeResource(mjResource* resource, const char* content_type, const mjVFS* vfs) {
   const mjpDecoder* decoder = nullptr;
   if (content_type) {
     decoder = mjp_findDecoder(resource, content_type);
@@ -276,6 +276,6 @@ mjSpec* mju_decodeResource(mjResource* resource, const char* content_type) {
     mju_error("Could not find decoder for resource '%s'", resource->name);
   }
 
-  return decoder->decode(resource);
+  return decoder->decode(resource, vfs);
 }
 

src/user/user_resource.h

@@ -48,7 +48,8 @@ MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timesta
 
 // given a resource, find its decoder and return the decoded spec
 // the caller takes ownership of the spec and is responsible for cleaning it up
-MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type);
+MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type,
+                                 const mjVFS* vfs);
 
 #ifdef __cplusplus
 }