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Refactor mjVFS and resource management.

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Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.

This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.

PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
This commit is contained in:
Haroon Qureshi
2026-01-26 23:52:35 -08:00
committed by Copybara-Service
parent e977b0d660
commit 0ddbb46fa1
12 changed files with 829 additions and 433 deletions
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doc/changelog.rst
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@@ -54,6 +54,8 @@ General
See :ref:`rangefinder<sensor-rangefinder>` for details.
- Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
Unused by the renderer, it serves as a convenient location to store a camera's supported output types.
- Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting Allows
providers to be used to open/read/close resources dynamically at arbitrary paths.
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from