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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.h
+19
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@@ -808,6 +808,10 @@ class mjCMesh_ : public mjCBase {
mjCBoundingVolumeHierarchy tree_; // bounding volume hierarchy
std::vector<double> face_aabb_; // bounding boxes of all faces
// paths stored during model attachment
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath meshdir_;
};
class mjCMesh: public mjCMesh_, private mjsMesh {
@@ -823,6 +827,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void CopyFromSpec(void);
void PointToLocal(void);
void NameSpace(const mjCModel* m);
// accessors
const mjsPlugin& Plugin() const { return plugin; }
@@ -952,6 +957,10 @@ class mjCSkin_ : public mjCBase {
int matid; // material id
std::vector<int> bodyid; // body ids
// paths stored during model attachment
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath meshdir_;
};
class mjCSkin: public mjCSkin_, private mjsSkin {
@@ -1005,6 +1014,10 @@ class mjCHField_ : public mjCBase {
std::string spec_file_;
std::string spec_content_type_;
std::vector<float> spec_userdata_;
// paths stored during model attachment
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath meshdir_;
};
class mjCHField : public mjCHField_, private mjsHField {
@@ -1024,6 +1037,7 @@ class mjCHField : public mjCHField_, private mjsHField {
void CopyFromSpec(void);
void PointToLocal(void);
void NameSpace(const mjCModel* m);
std::string File() const { return file_; }
@@ -1052,6 +1066,10 @@ class mjCTexture_ : public mjCBase {
std::string spec_file_;
std::string spec_content_type_;
std::vector<std::string> spec_cubefiles_;
// paths stored during model attachment
mujoco::user::FilePath modelfiledir_;
mujoco::user::FilePath texturedir_;
};
class mjCTexture : public mjCTexture_, private mjsTexture {
@@ -1071,6 +1089,7 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
void CopyFromSpec(void);
void PointToLocal(void);
void NameSpace(const mjCModel* m);
std::string File() const { return file_; }
std::string get_content_type() const { return content_type_; }