Add mj_containsFileVFS and mj_containsBufferVFS functions.

PiperOrigin-RevId: 903785790
Change-Id: I013b37a177284f8440179c4ae5c6221e0f572b49

doc/APIreference/functions.rst

@@ -1519,6 +1519,24 @@ Add file to VFS from buffer; return 0: success, 2: repeated name, -1: failed to
 
 Delete file from VFS; return 0: success, -1: not found in VFS.
 
+.. _mj_containsBufferVFS:
+
+`mj_containsBufferVFS <#mj_containsBufferVFS>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_containsBufferVFS
+
+Check if buffer exists in VFS; return 1: exists, 0: not found.
+
+.. _mj_containsFileVFS:
+
+`mj_containsFileVFS <#mj_containsFileVFS>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mj_containsFileVFS
+
+Check if file exists in VFS; return 1: exists, 0: not found.
+
 .. _mj_deleteVFS:
 
 `mj_deleteVFS <#mj_deleteVFS>`__

doc/changelog.rst

@@ -9,6 +9,7 @@ General
 ^^^^^^^
 - Added new :ref:`mj_maxContact<mj_maxContact>` function to get the maximum number of possible contacts returned by
   two geoms.
+- Added ``mj_containsBufferVFS`` and ``mj_containsFileVFS`` to check for existence of buffers and files in VFS.
 - Added :ref:`multi-cell support<body-flexcomp-cellnum>` for trilinear and quadratic flexes. Note that the implicit
   integrator uses a dense solver for the flex degrees of freedom, which can be slow for multi-cell flexes.
 - Refactored ``flexstrain`` equality constraints to be instantiated per cell instead of per flex object, reducing the

doc/includes/references.h

@@ -3161,6 +3161,8 @@ int mj_unmountVFS(mjVFS* vfs, const char* filename);
 int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
 int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
 int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
+int mj_containsBufferVFS(mjVFS* vfs, const char* name);
+int mj_containsFileVFS(mjVFS* vfs, const char* directory, const char* filename);
 void mj_deleteVFS(mjVFS* vfs);
 size_t mj_getCacheSize(const mjCache* cache);
 size_t mj_getCacheCapacity(const mjCache* cache);