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Support FilePaths instead of raw strings in XML code.

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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
This commit is contained in:
Kyle Bayes
2024-07-23 08:35:56 -07:00
committed by Copybara-Service
parent 2d24c58819
commit 2746cb8559
10 changed files with 195 additions and 179 deletions
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src/xml/xml_native_reader.cc
+33 -24
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@@ -49,6 +49,7 @@
namespace {
using std::string;
using std::vector;
using mujoco::user::FilePath;
using tinyxml2::XMLElement;
void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjsPlugin* p) {
@@ -2553,7 +2554,12 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* pbody) {
ReadAttr(elem, "scale", 3, fcomp.scale, text);
ReadAttr(elem, "mass", 1, &fcomp.mass, text);
ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
fcomp.file = ReadAttrFile(elem, "file", modelfiledir_).value_or("");
auto maybe_file = ReadAttrFile(elem, "file", modelfiledir_);
if (maybe_file.has_value()) {
fcomp.file = std::move(maybe_file.value().Str());
} else {
fcomp.file = "";
}
if (ReadAttrTxt(elem, "material", material)) {
mjs_setString(dflex.material, material.c_str());
}
@@ -3171,14 +3177,18 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
}
// separate files
std::vector<string> cubefiles(6);
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("");
std::vector<std::string> cubefiles(6);
std::vector<std::string> cubefile_names = {"fileright", "fileleft",
"fileup", "filedown",
"filefront", "fileback"};
for (int i = 0; i < cubefiles.size(); i++) {
auto maybe_file = ReadAttrFile(elem, cubefile_names[i].c_str(),
TextureDir());
if (maybe_file.has_value()) {
cubefiles[i] = maybe_file.value().Str();
} else {
cubefiles[i] = "";
}
mjs_setInStringVec(ptex->cubefiles, i, cubefiles[i].c_str());
}
}
@@ -3264,7 +3274,7 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
// model sub-element
else if (name=="model") {
auto filename = modelfiledir_ + ReadAttrFile(elem, "file", "").value();
auto filename = modelfiledir_ + ReadAttrFile(elem, "file").value();
// parse the child
std::array<char, 1024> error;
@@ -4227,36 +4237,35 @@ mjsDefault* mjXReader::GetClass(XMLElement* section) {
return def;
}
void mjXReader::SetModelFileDir(std::string modelfiledir) {
modelfiledir_ = modelfiledir;
void mjXReader::SetModelFileDir(const std::string& modelfiledir) {
modelfiledir_ = FilePath(modelfiledir);
}
void mjXReader::SetAssetDir(std::string assetdir) {
assetdir_ = assetdir;
void mjXReader::SetAssetDir(const std::string& assetdir) {
assetdir_ = FilePath(assetdir);
}
void mjXReader::SetMeshDir(std::string meshdir) {
meshdir_ = meshdir;
void mjXReader::SetMeshDir(const std::string& meshdir) {
meshdir_ = FilePath(meshdir);
}
void mjXReader::SetTextureDir(std::string texturedir) {
texturedir_ = texturedir;
void mjXReader::SetTextureDir(const std::string& texturedir) {
texturedir_ = FilePath(texturedir);
}
std::string mjXReader::AssetDir() const {
return mjuu_combinePaths(modelfiledir_, assetdir_);
FilePath mjXReader::AssetDir() const {
return modelfiledir_ + assetdir_;
}
std::string mjXReader::MeshDir() const {
FilePath mjXReader::MeshDir() const {
if (meshdir_.empty()) {
return AssetDir();
}
return mjuu_combinePaths(modelfiledir_, meshdir_);
return modelfiledir_ + meshdir_;
}
std::string mjXReader::TextureDir() const {
FilePath mjXReader::TextureDir() const {
if (texturedir_.empty()) {
return AssetDir();
}
return mjuu_combinePaths(modelfiledir_, texturedir_);
return modelfiledir_ + texturedir_;
}