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Add VFS parameter to mjpDecoder decoding function.

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PiperOrigin-RevId: 846242734
Change-Id: I317e11e6fcd965f66416abcf690a3a65d043e9ee
This commit is contained in:
Sam Haves
2025-12-18 06:37:36 -08:00
committed by Copybara-Service
parent bebdd62943
commit 05e1c452c7
5 changed files with 11 additions and 10 deletions
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test/plugin/decoder/decoder_test.cc
+5 -5
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@@ -39,7 +39,9 @@ static mjSpec* MakeSimpleSpec() {
}
// Always returns a simple mjSpec, ignoring the resource.
mjSpec* FakeDecode(mjResource* resource) { return MakeSimpleSpec(); }
mjSpec* FakeDecode(mjResource* resource, const mjVFS* vfs) {
return MakeSimpleSpec();
}
// Can decode any resource that has a .fakeformat extension.
int FakeCanDecode(const mjResource* resource) {
@@ -81,8 +83,7 @@ TEST_F(DecoderPluginTest, CanDecode) {
// Check referencing a resource via XML invokes the decoder.
char error[1024];
mjSpec* spec =
mj_parseXMLString(xml, nullptr, error, sizeof(error));
mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
mjModel* model = mj_compile(spec, nullptr);
ASSERT_THAT(model, testing::NotNull()) << error;
EXPECT_EQ(model->nbody, 2); // world + included body
@@ -91,8 +92,7 @@ TEST_F(DecoderPluginTest, CanDecode) {
mj_deleteSpec(spec);
// Check mj_parse with extension .fakeformat
spec =
mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
spec = mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
model = mj_compile(spec, nullptr);
EXPECT_EQ(model->nbody, 2); // world + included body
EXPECT_EQ(model->ngeom, 1);