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Store model paths in assets.

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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
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src/user/user_objects.cc
+41 -8
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@@ -50,6 +50,7 @@
namespace {
namespace mju = ::mujoco::util;
using mujoco::user::FilePath;
class PNGImage {
public:
@@ -3402,6 +3403,14 @@ void mjCHField::CopyFromSpec() {
void mjCHField::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
meshdir_ = FilePath(m->spec_meshdir_);
}
// destructor
mjCHField::~mjCHField() {
data.clear();
@@ -3514,8 +3523,16 @@ void mjCHField::Compile(const mjVFS* vfs) {
throw mjCError(this, "unsupported content type: '%s'", asset_type.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 {
if (asset_type == "image/png") {
@@ -3631,6 +3648,14 @@ void mjCTexture::CopyFromSpec() {
void mjCTexture::NameSpace(const mjCModel* m) {
mjCBase::NameSpace(m);
modelfiledir_ = FilePath(m->spec_modelfiledir_);
texturedir_ = FilePath(m->spec_texturedir_);
}
// free data storage allocated by lodepng
mjCTexture::~mjCTexture() {
data_.clear();
@@ -3960,7 +3985,7 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
mjResource* resource = LoadResource(model->modelfiledir_, filename, vfs);
mjResource* resource = LoadResource(modelfiledir_.Str(), filename, vfs);
try {
if (asset_type == "image/png") {
@@ -4176,12 +4201,12 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// make filename
std::string filename = mjuu_combinePaths(model->texturedir_, cubefiles_[i]);
FilePath filename = texturedir_ + FilePath(cubefiles_[i]);
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename.Str(), vfs, image, w, h);
// PNG must be square
if (w != h) {
@@ -4244,6 +4269,14 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
void mjCTexture::Compile(const mjVFS* vfs) {
CopyFromSpec();
// copy paths from model if not already defined
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
if (texturedir_.empty()) {
texturedir_ = FilePath(model->texturedir_);
}
// buffer from user
if (!data_.empty()) {
if (data_.size() != nchannel*width*height) {
@@ -4299,13 +4332,13 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// make filename
std::string filename = mjuu_combinePaths(model->texturedir_, file_);
FilePath filename = texturedir_ + FilePath(file_);
// dispatch
if (type==mjTEXTURE_2D) {
Load2D(filename, vfs);
Load2D(filename.Str(), vfs);
} else {
LoadCubeSingle(filename, vfs);
LoadCubeSingle(filename.Str(), vfs);
}
}