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Refactor user codebase to use LoadResource helper method.

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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).

PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
This commit is contained in:
Kyle Bayes
2023-04-25 07:23:53 -07:00
committed by Copybara-Service
parent c2115a1f51
commit 23961e24b7
10 changed files with 446 additions and 274 deletions
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src/user/user_objects.h
+43 -40
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@@ -144,6 +144,9 @@ class mjCBase {
friend class mjCDef;
public:
// load resource if found (fallback to OS filesystem)
mjResource* LoadResource(std::string filename, int provider);
std::string name; // object name
std::string classname; // defaults class name
int id; // object id
@@ -513,9 +516,9 @@ class mjCMesh: public mjCBase {
mjCMesh(mjCModel* = 0, mjCDef* = 0); // constructor
~mjCMesh(); // destructor
void Compile(int default_provider); // compiler
void LoadOBJ(int default_provider); // load mesh in wavefront OBJ format
void LoadSTL(int default_provider); // load mesh in STL BIN format
void LoadMSH(int default_provider); // load mesh in MSH BIN format
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
void MakeGraph(void); // make graph of convex hull
void CopyGraph(void); // copy graph into face data
void MakeNormal(void); // compute vertex normals
@@ -595,7 +598,7 @@ class mjCSkin: public mjCBase {
mjCSkin(mjCModel* = 0); // constructor
~mjCSkin(); // destructor
void Compile(int default_provider); // compiler
void LoadSKN(int default_provider); // load skin in SKN BIN format
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
int matid; // material id
std::vector<int> bodyid; // body ids
@@ -622,8 +625,8 @@ class mjCHField : public mjCBase {
~mjCHField(); // destructor
void Compile(int default_provider); // compiler
void LoadCustom(std::string filename, int default_provider); // load from custom format
void LoadPNG(std::string filename, int default_provider); // load from PNG format
void LoadCustom(mjResource* resource); // load from custom format
void LoadPNG(mjResource* resource); // load from PNG format
};
@@ -676,10 +679,10 @@ class mjCTexture : public mjCBase {
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
void LoadPNG(std::string filename, int default_provider,
void LoadPNG(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
void LoadCustom(std::string filename, int default_provider,
void LoadCustom(mjResource* resource,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
@@ -708,8 +711,8 @@ class mjCMaterial : public mjCBase {
float rgba[4]; // rgba
private:
mjCMaterial(mjCModel* = 0, mjCDef* = 0);// constructor
void Compile(void); // compiler
mjCMaterial(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
int texid; // id of material
};
@@ -742,8 +745,8 @@ class mjCPair : public mjCBase {
}
private:
mjCPair(mjCModel* = 0, mjCDef* = 0);// constructor
void Compile(void); // compiler
mjCPair(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
int geom1; // id of geom1
int geom2; // id of geom2
@@ -828,22 +831,22 @@ class mjCTendon : public mjCBase {
mjCWrap* GetWrap(int); // pointer to wrap
// variables set by user
int group; // group for visualization
std::string material; // name of material for rendering
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double range[2]; // length limits
double margin; // margin value for tendon limit detection
double stiffness; // stiffness coefficient
double damping; // damping coefficient
double frictionloss; // friction loss
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
std::vector<double> userdata; // user data
float rgba[4]; // rgba when material is omitted
int group; // group for visualization
std::string material; // name of material for rendering
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
mjtNum solimp_limit[mjNIMP]; // solver impedance: tendon limits
mjtNum solref_friction[mjNREF]; // solver reference: tendon friction
mjtNum solimp_friction[mjNIMP]; // solver impedance: tendon friction
double range[2]; // length limits
double margin; // margin value for tendon limit detection
double stiffness; // stiffness coefficient
double damping; // damping coefficient
double frictionloss; // friction loss
double springlength[2]; // spring resting length; {-1, -1}: use qpos_spring
std::vector<double> userdata; // user data
float rgba[4]; // rgba when material is omitted
private:
mjCTendon(mjCModel* = 0, mjCDef* = 0); // constructor
@@ -934,8 +937,8 @@ class mjCActuator : public mjCBase {
std::string refsite; // reference site, for site transmission only
private:
mjCActuator(mjCModel* = 0, mjCDef* = 0);// constructor
void Compile(void); // compiler
mjCActuator(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
int trnid[2]; // id of transmission target
};
@@ -1046,18 +1049,18 @@ class mjCKey : public mjCBase {
friend class mjXWriter;
public:
double time; // time
std::vector<double> qpos; // qpos
std::vector<double> qvel; // qvel
std::vector<double> act; // act
std::vector<double> mpos; // mocap pos
std::vector<double> mquat; // mocap quat
std::vector<double> ctrl; // ctrl
double time; // time
std::vector<double> qpos; // qpos
std::vector<double> qvel; // qvel
std::vector<double> act; // act
std::vector<double> mpos; // mocap pos
std::vector<double> mquat; // mocap quat
std::vector<double> ctrl; // ctrl
private:
mjCKey(mjCModel*); // constructor
~mjCKey(); // destructor
void Compile(const mjModel* m); // compiler
mjCKey(mjCModel*); // constructor
~mjCKey(); // destructor
void Compile(const mjModel* m); // compiler
};