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Update docs for VFS.

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PiperOrigin-RevId: 659968022
Change-Id: I3b6c9befc8ca0dacaee5ef6da34d537dd439b7f3
This commit is contained in:
Kyle Bayes
2024-08-06 08:32:06 -07:00
committed by Copybara-Service
parent a1d9b47e2f
commit 5287359022
2 changed files with 11 additions and 15 deletions
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doc/APIreference/functions.rst
+4 -8
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@@ -1197,14 +1197,10 @@ files (MJCF, URDF and included files), STL meshes, PNGs for textures and height
height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
file they are about to load, and only access the disk if the file is not found in the VFS. The file names stored in the
VFS have their name and extension but the path information is stripped; this can be bypassed however by using a custom
path symbol in the file names, say "mydir_myfile.xml".
files they are about to load, and only access the disk if the file is not found in the VFS.
The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed with :ref:`mj_deleteVFS`.
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
mj_addFileVFS (which allocates memory buffers and loads the file content in memory), then call mj_loadXML or
mj_loadModel, and then clear everything with mj_deleteVFS.
.. _mj_defaultVFS:
@@ -1213,7 +1209,7 @@ mj_defaultVFS
.. mujoco-include:: mj_defaultVFS
Initialize an empty VFS, mj_deleteVFS must be called to deallocate the VFS.
Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS.
.. _mj_addFileVFS:
doc/APIreference/functions_override.rst
+7 -7
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@@ -9,14 +9,14 @@ files (MJCF, URDF and included files), STL meshes, PNGs for textures and height
height field format. Model and resource files in the VFS can also be constructed programmatically (say using a Python
library that writes to memory). Once all desired files are in the VFS, the user can call :ref:`mj_loadModel` or
:ref:`mj_loadXML` with a pointer to the VFS. When this pointer is not NULL, the loaders will first check the VFS for any
file they are about to load, and only access the disk if the file is not found in the VFS. The file names stored in the
VFS have their name and extension but the path information is stripped; this can be bypassed however by using a custom
path symbol in the file names, say "mydir_myfile.xml".
files they are about to load, and only access the disk if the file is not found in the VFS.
The entire VFS is contained in the data structure :ref:`mjVFS`. All utility functions for maintaining the VFS operate on
this data structure. The common usage pattern is to first clear it with mj_defaultVFS, then add disk files to it with
mj_addFileVFS (which allocates memory buffers and loads the file content in memory), then call mj_loadXML or
mj_loadModel, and then clear everything with mj_deleteVFS.
The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed with :ref:`mj_deleteVFS`.
.. _mj_defaultVFS:
Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS.
.. _mj_addFileVFS: