Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
PiperOrigin-RevId: 608312069 Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
b77dfc683a
commit
24eb4c9f09
@@ -1349,7 +1349,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjmFlex* pflex) {
|
||||
// mesh element parser
|
||||
void mjXReader::OneMesh(XMLElement* elem, mjmMesh* pmesh) {
|
||||
int n;
|
||||
string text, name, classname, content_type, file;
|
||||
string text, name, classname, content_type;
|
||||
|
||||
// read attributes
|
||||
if (ReadAttrTxt(elem, "name", name)) {
|
||||
@@ -1361,8 +1361,9 @@ void mjXReader::OneMesh(XMLElement* elem, mjmMesh* pmesh) {
|
||||
if (ReadAttrTxt(elem, "content_type", content_type)) {
|
||||
mjm_setString(pmesh->content_type, content_type.c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "file", file)) {
|
||||
mjm_setString(pmesh->file, file.c_str());
|
||||
auto file = ReadAttrFile(elem, "file", MeshDir());
|
||||
if (file) {
|
||||
mjm_setString(pmesh->file, file->c_str());
|
||||
}
|
||||
ReadAttr(elem, "refpos", 3, pmesh->refpos, text);
|
||||
ReadAttr(elem, "refpos", 4, pmesh->refquat, text);
|
||||
@@ -1418,19 +1419,20 @@ void mjXReader::OneMesh(XMLElement* elem, mjmMesh* pmesh) {
|
||||
|
||||
// skin element parser
|
||||
void mjXReader::OneSkin(XMLElement* elem, mjmSkin* pskin) {
|
||||
string text, name, file, material;
|
||||
string text, name, material;
|
||||
float data[4];
|
||||
|
||||
// read attributes
|
||||
if (ReadAttrTxt(elem, "name", name)) {
|
||||
mjm_setString(pskin->name, name.c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "file", file)) {
|
||||
mjm_setString(pskin->file, file.c_str());
|
||||
auto file = ReadAttrFile(elem, "file", AssetDir());
|
||||
if (file.has_value()) {
|
||||
mjm_setString(pskin->file, file->c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "material", material)) {
|
||||
mjm_setString(pskin->material, material.c_str());
|
||||
}
|
||||
}
|
||||
ReadAttrInt(elem, "group", &pskin->group);
|
||||
if (pskin->group<0 || pskin->group>=mjNGROUP) {
|
||||
throw mjXError(elem, "skin group must be between 0 and 5");
|
||||
@@ -2507,7 +2509,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
|
||||
ReadAttr(elem, "scale", 3, fcomp.scale, text);
|
||||
ReadAttr(elem, "mass", 1, &fcomp.mass, text);
|
||||
ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
|
||||
ReadAttrTxt(elem, "file", fcomp.file);
|
||||
fcomp.file = ReadAttrFile(elem, "file", modelfiledir_).value_or("");
|
||||
if (ReadAttrTxt(elem, "material", material)) {
|
||||
mjm_setString(dflex.material, material.c_str());
|
||||
}
|
||||
@@ -3067,7 +3069,7 @@ void mjXReader::Visual(XMLElement* section) {
|
||||
// asset section parser
|
||||
void mjXReader::Asset(XMLElement* section) {
|
||||
int n;
|
||||
string text, name, texname, content_type, file;
|
||||
string text, name, texname, content_type;
|
||||
XMLElement* elem;
|
||||
|
||||
// iterate over child elements
|
||||
@@ -3101,8 +3103,9 @@ void mjXReader::Asset(XMLElement* section) {
|
||||
if (ReadAttrTxt(elem, "content_type", content_type)) {
|
||||
mjm_setString(ptex->content_type, content_type.c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "file", file)) {
|
||||
mjm_setString(ptex->file, file.c_str());
|
||||
auto file = ReadAttrFile(elem, "file", TextureDir());
|
||||
if (file.has_value()) {
|
||||
mjm_setString(ptex->file, file->c_str());
|
||||
}
|
||||
ReadAttrInt(elem, "width", &ptex->width);
|
||||
ReadAttrInt(elem, "height", &ptex->height);
|
||||
@@ -3139,12 +3142,12 @@ void mjXReader::Asset(XMLElement* section) {
|
||||
|
||||
// separate files
|
||||
std::vector<string> cubefiles(6);
|
||||
ReadAttrTxt(elem, "fileright", cubefiles[0]);
|
||||
ReadAttrTxt(elem, "fileleft", cubefiles[1]);
|
||||
ReadAttrTxt(elem, "fileup", cubefiles[2]);
|
||||
ReadAttrTxt(elem, "filedown", cubefiles[3]);
|
||||
ReadAttrTxt(elem, "filefront", cubefiles[4]);
|
||||
ReadAttrTxt(elem, "fileback", cubefiles[5]);
|
||||
cubefiles[0] = ReadAttrFile(elem, "fileright", TextureDir()).value_or("");
|
||||
cubefiles[1] = ReadAttrFile(elem, "fileleft", TextureDir()).value_or("");
|
||||
cubefiles[2] = ReadAttrFile(elem, "fileup", TextureDir()).value_or("");
|
||||
cubefiles[3] = ReadAttrFile(elem, "filedown", TextureDir()).value_or("");
|
||||
cubefiles[4] = ReadAttrFile(elem, "filefront", TextureDir()).value_or("");
|
||||
cubefiles[5] = ReadAttrFile(elem, "fileback", TextureDir()).value_or("");
|
||||
for (int i = 0; i < cubefiles.size(); i++) {
|
||||
mjm_setInStringVec(ptex->cubefiles, i, cubefiles[i].c_str());
|
||||
}
|
||||
@@ -3181,22 +3184,23 @@ void mjXReader::Asset(XMLElement* section) {
|
||||
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
|
||||
|
||||
// read attributes
|
||||
string name, content_type, file;
|
||||
string name, content_type;
|
||||
if (ReadAttrTxt(elem, "name", name)) {
|
||||
mjm_setString(phf->name, name.c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "content_type", content_type)) {
|
||||
mjm_setString(phf->content_type, content_type.c_str());
|
||||
}
|
||||
if (ReadAttrTxt(elem, "file", file)) {
|
||||
mjm_setString(phf->file, file.c_str());
|
||||
auto file = ReadAttrFile(elem, "file", AssetDir());
|
||||
if (file.has_value()) {
|
||||
mjm_setString(phf->file, file->c_str());
|
||||
}
|
||||
ReadAttrInt(elem, "nrow", &phf->nrow);
|
||||
ReadAttrInt(elem, "ncol", &phf->ncol);
|
||||
ReadAttr(elem, "size", 4, phf->size, text, true);
|
||||
|
||||
// allocate buffer for dynamic hfield, copy user data if given
|
||||
if (file.empty() && phf->nrow>0 && phf->ncol>0) {
|
||||
if (!file.has_value() && phf->nrow>0 && phf->ncol>0) {
|
||||
int nrow = phf->nrow;
|
||||
int ncol = phf->ncol;
|
||||
|
||||
@@ -4034,3 +4038,54 @@ mjmDefault* mjXReader::GetClass(XMLElement* section) {
|
||||
void mjXReader::GetXMLPos(XMLElement* elem, mjCBase* obj) {
|
||||
obj->info = "line = " + std::to_string(elem->GetLineNum());
|
||||
}
|
||||
|
||||
// return true if c is a directory path separator (i.e. '/' or '\' on windows)
|
||||
static bool IsSeperator(char c) {
|
||||
return c == '/' || c == '\\';
|
||||
}
|
||||
|
||||
void mjXReader::SetModelFileDir(std::string modelfiledir) {
|
||||
modelfiledir_ = modelfiledir;
|
||||
if (!modelfiledir_.empty() && !IsSeperator(modelfiledir_.back())) {
|
||||
modelfiledir_.append("/");
|
||||
}
|
||||
}
|
||||
|
||||
void mjXReader::SetAssetDir(std::string assetdir) {
|
||||
assetdir_ = assetdir;
|
||||
if (!assetdir_.empty() && !IsSeperator(assetdir_.back())) {
|
||||
assetdir_.append("/");
|
||||
}
|
||||
}
|
||||
|
||||
void mjXReader::SetMeshDir(std::string meshdir) {
|
||||
meshdir_ = meshdir;
|
||||
if (!meshdir_.empty() && !IsSeperator(meshdir_.back())) {
|
||||
meshdir_.append("/");
|
||||
}
|
||||
}
|
||||
|
||||
void mjXReader::SetTextureDir(std::string texturedir) {
|
||||
texturedir_ = texturedir;
|
||||
if (!texturedir_.empty() && !IsSeperator(texturedir_.back())) {
|
||||
texturedir_.append("/");
|
||||
}
|
||||
}
|
||||
|
||||
std::string mjXReader::AssetDir() const {
|
||||
return modelfiledir_ + assetdir_;
|
||||
}
|
||||
|
||||
std::string mjXReader::MeshDir() const {
|
||||
if (meshdir_.empty()) {
|
||||
return AssetDir();
|
||||
}
|
||||
return modelfiledir_ + meshdir_;
|
||||
}
|
||||
|
||||
std::string mjXReader::TextureDir() const {
|
||||
if (texturedir_.empty()) {
|
||||
return AssetDir();
|
||||
}
|
||||
return modelfiledir_ + texturedir_;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user