chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Store model paths in assets.

Browse Source 
This enables to preserve the paths of the child spec during `attach`.

PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
This commit is contained in:
Alessio Quaglino
2024-09-11 05:19:08 -07:00
committed by Copybara-Service
parent cf721def3a
commit 567793c26f
5 changed files with 136 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+31 -4
View File
@@ -72,6 +72,7 @@ extern "C" {
namespace {
using mujoco::user::VectorToString;
using mujoco::user::FilePath;
} // namespace
// compute triangle area, surface normal, center
@@ -218,6 +219,14 @@ void mjCMesh::PointToLocal() {
void mjCMesh::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
}
void mjCMesh::CopyFromSpec() {
*static_cast<mjsMesh*>(this) = spec;
file_ = spec_file_;
@@ -388,6 +397,14 @@ void mjCMesh::Compile(const mjVFS* vfs) {
facenormal_.clear();
facetexcoord_.clear();
// copy paths from model if not already defined
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(model->meshdir_);
}
// remove path from file if necessary
if (model->strippath) {
file_ = mjuu_strippath(file_);
@@ -402,8 +419,8 @@ void mjCMesh::Compile(const mjVFS* vfs) {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
std::string filename = mjuu_combinePaths(model->meshdir_, file_);
resource = LoadResource(model->modelfiledir_, filename, vfs);
FilePath filename = meshdir_ + FilePath(file_);
resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
// try loading from cache
if (cache != nullptr && LoadCachedMesh(cache, resource)) {
@@ -2016,6 +2033,8 @@ void mjCSkin::NameSpace(const mjCModel* m) {
for (auto& name : spec_bodyname_) {
name = m->prefix + name + m->suffix;
}
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
}
@@ -2097,8 +2116,16 @@ void mjCSkin::Compile(const mjVFS* vfs) {
throw mjCError(this, "Unknown skin file type: %s", file_.c_str());
}
std::string filename = mjuu_combinePaths(model->meshdir_, file_);
mjResource* resource = LoadResource(model->modelfiledir_, filename, vfs);
// copy paths from model if not already defined
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(model->meshdir_);
}
FilePath filename = meshdir_ + FilePath(file_);
mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
try {
LoadSKN(resource);