Add VFS handling logic to mj_openResource.

PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85

test/user/user_cache_test.cc

@@ -47,7 +47,7 @@ void CacheText(mjCCache& cache, const std::string& model,
   mjVFS vfs;
   mj_defaultVFS(&vfs);
   mj_addBufferVFS(&vfs, name.c_str(), text.data(), text.size());
-  mjResource* resource = mju_openVfsResource(name.c_str(), &vfs);
+  mjResource* resource = mju_openResource(name.c_str(), &vfs, nullptr, 0);
   std::shared_ptr<const void> data(&text, +[](const void* data) {});
   cache.Insert(model, resource, data, text.size());
   mju_closeResource(resource);
@@ -61,7 +61,7 @@ GetCachedText(mjCCache& cache, const std::string& model,
   mjVFS vfs;
   mj_defaultVFS(&vfs);
   mj_addBufferVFS(&vfs, name.c_str(), text.data(), std::strlen(text.c_str()));
-  mjResource* resource = mju_openVfsResource(name.c_str(), &vfs);
+  mjResource* resource = mju_openResource(name.c_str(), &vfs, nullptr, 0);
   bool inserted = cache.PopulateData(resource,
                                      [&cached_text](const void* data) {
     cached_text = *(static_cast<const std::string*>(data));

test/user/user_resource_test.cc

@@ -233,7 +233,7 @@ TEST_F(ResourceTest, GeneralTest) {
   EXPECT_GT(i, 0);
 
   // open resource
-  mjResource* resource = mju_openResource("str:file", nullptr, 0);
+  mjResource* resource = mju_openResource("str:file", nullptr, nullptr, 0);
   ASSERT_THAT(resource,  NotNull());
 
   const char* buffer = NULL;
@@ -256,7 +256,7 @@ TEST_F(ResourceTest, GeneralFailureTest) {
   static std::array<char, 1024> error;
 
   // open resource
-  mjResource* resource = mju_openResource("str:notfound",
+  mjResource* resource = mju_openResource("str:notfound", nullptr,
                                           error.data(), error.size());
   ASSERT_THAT(resource, IsNull());
 
@@ -281,7 +281,7 @@ TEST_F(ResourceTest, NameWithValidPrefix) {
   };
 
   // open resource
-  mjResource* resource = mju_openResource("nop:found", nullptr, 0);
+  mjResource* resource = mju_openResource("nop:found", nullptr, nullptr, 0);
   ASSERT_THAT(resource, NotNull());
   mju_closeResource(resource);
 }
@@ -304,7 +304,7 @@ TEST_F(ResourceTest, NameWithUpperCasePrefix) {
   };
 
   // open resource
-  mjResource* resource = mju_openResource("NOP:found", nullptr, 0);
+  mjResource* resource = mju_openResource("NOP:found", nullptr, nullptr, 0);
   ASSERT_THAT(resource, NotNull());
   mju_closeResource(resource);
 }
@@ -327,7 +327,7 @@ TEST_F(ResourceTest, NameWithInvalidPrefix) {
   };
 
   // open resource
-  mjResource* resource = mju_openResource("nopfound", nullptr, 0);
+  mjResource* resource = mju_openResource("nopfound", nullptr, nullptr, 0);
   ASSERT_THAT(resource, IsNull());
 }
 
@@ -338,7 +338,8 @@ TEST_F(ResourceTest, OSFilesystemTimestamps) {
   const char* const file = "engine/testdata/collision_box/boxbox_deep.xml";
   const std::string xml_path = GetTestDataFilePath(file);
 
-  mjResource* resource = mju_openResource(xml_path.c_str(), nullptr, 0);
+  mjResource* resource = mju_openResource(xml_path.c_str(), nullptr,
+                                          nullptr, 0);
   mju_decodeBase64((uint8_t*) &t, resource->timestamp);
 
   // equal timestamps

test/user/user_vfs_test.cc

@@ -30,7 +30,7 @@ using ::testing::NotNull;
 using UserVfsTest = MujocoTest;
 
 static bool HasFile(const mjVFS* vfs, const std::string& filename) {
-  mjResource* resource = mju_openVfsResource(filename.c_str(), vfs);
+  mjResource* resource = mju_openResource(filename.c_str(), vfs, nullptr, 0);
   bool result = resource != nullptr;
   mju_closeResource(resource);
   return result;
@@ -222,7 +222,7 @@ TEST_F(UserVfsTest, Timestamps) {
   mj_defaultVFS(&vfs);
   mj_addBufferVFS(&vfs, "cube.obj", cube, sizeof(cube));
 
-  mjResource* resource = mju_openVfsResource("cube.obj", &vfs);
+  mjResource* resource = mju_openResource("cube.obj", &vfs, nullptr, 0);
 
   // same timestamps
   EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);