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Create mjpDecoder, mj_parse, and mju_decodeResource

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- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
  - The returned spec is then composed into the referencing spec.
  - This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.

Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.

The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.

In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.

PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
This commit is contained in:
Sam Haves
2025-10-30 12:53:40 -07:00
committed by Copybara-Service
parent f2badc05ac
commit 57f7145806
16 changed files with 2063 additions and 1555 deletions
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doc/includes/references.h
+15
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@@ -1563,6 +1563,16 @@ struct mjpResourceProvider {
void* data; // opaque data pointer (resource invariant)
};
typedef struct mjpResourceProvider mjpResourceProvider;
struct mjpDecoder {
const char* content_type;
const char* extension;
// user-facing functions
mjfCanDecode can_decode; // quickly check if this decoder can handle the resource
mjfDecode decode; // main decoding function
// the caller takes ownership of the spec returned by decode and is responsible
// for cleaning it up
};
typedef struct mjpDecoder mjpDecoder;
typedef enum mjtPluginCapabilityBit_ {
mjPLUGIN_ACTUATOR = 1<<0, // actuator forces
mjPLUGIN_SENSOR = 1<<1, // sensor measurements
@@ -3014,6 +3024,8 @@ void mj_clearCache(mjCache* cache);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parseXMLString(const char* xml, const mjVFS* vfs, char* error, int error_sz);
mjSpec* mj_parse(const char* filename, const char* content_type,
const mjVFS* vfs, char* error, int error_sz);
mjModel* mj_compile(mjSpec* s, const mjVFS* vfs);
int mj_copyBack(mjSpec* s, const mjModel* m);
int mj_recompile(mjSpec* s, const mjVFS* vfs, mjModel* m, mjData* d);
@@ -3431,6 +3443,9 @@ int mjp_registerResourceProvider(const mjpResourceProvider* provider);
int mjp_resourceProviderCount(void);
const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name);
const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot);
void mjp_registerDecoder(const mjpDecoder* decoder);
void mjp_defaultDecoder(mjpDecoder* decoder);
const mjpDecoder* mjp_findDecoder(const mjResource* resource, const char* content_type);
mjThreadPool* mju_threadPoolCreate(size_t number_of_threads);
void mju_bindThreadPool(mjData* d, void* thread_pool);
void mju_threadPoolEnqueue(mjThreadPool* thread_pool, mjTask* task);