Add VFS parameter to mjpDecoder decoding function.

PiperOrigin-RevId: 846242734
Change-Id: I317e11e6fcd965f66416abcf690a3a65d043e9ee

include/mujoco/mjplugin.h

@@ -69,7 +69,7 @@ typedef struct mjpResourceProvider mjpResourceProvider;
 
 // function pointer types
 // return an mjSpec representing the decoded resource.
-typedef mjSpec* (*mjfDecode)(mjResource* resource);
+typedef mjSpec* (*mjfDecode)(mjResource* resource, const mjVFS* vfs);
 // return true if the given resource can be decoded.
 typedef int (*mjfCanDecode)(const mjResource* resource);
 

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
 }

test/plugin/decoder/decoder_test.cc

@@ -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 =
+  mjSpec* spec = mj_parseXMLString(xml, nullptr, error, sizeof(error));
-      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 =
+  spec = mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
-      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);