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Support directories in VFS via mj_addBufferVFS.

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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
This commit is contained in:
Kyle Bayes
2024-07-23 13:38:28 -07:00
committed by Copybara-Service
parent 2746cb8559
commit 5ac5cfb618
18 changed files with 197 additions and 156 deletions
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src/user/user_objects.cc
+9 -7
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@@ -701,10 +701,12 @@ void mjCBase::NameSpace(const mjCModel* m) {
// load resource if found (fallback to OS filesystem)
mjResource* mjCBase::LoadResource(std::string filename, const mjVFS* vfs) {
mjResource* mjCBase::LoadResource(const std::string& modelfiledir,
const std::string& filename,
const mjVFS* vfs) {
// try reading from provided VFS or fallback to OS filesystem
std::array<char, 1024> error;
mjResource* resource = mju_openResource(filename.c_str(), vfs,
mjResource* resource = mju_openResource(modelfiledir.c_str(), filename.c_str(), vfs,
error.data(), error.size());
if (!resource) {
throw mjCError(nullptr, "%s", error.data());
@@ -3159,8 +3161,8 @@ void mjCHField::Compile(const mjVFS* vfs) {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
std::string filename = mjuu_combinePaths(model->modelfiledir_, model->meshdir_, file_);
mjResource* resource = LoadResource(filename, vfs);
std::string filename = mjuu_combinePaths(model->meshdir_, file_);
mjResource* resource = LoadResource(model->modelfiledir_, filename, vfs);
try {
if (asset_type == "image/png") {
@@ -3594,7 +3596,7 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
mjResource* resource = LoadResource(filename, vfs);
mjResource* resource = LoadResource(model->modelfiledir_, filename, vfs);
try {
if (asset_type == "image/png") {
@@ -3797,7 +3799,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// make filename
std::string filename = mjuu_combinePaths(model->modelfiledir_, model->texturedir_, cubefiles_[i]);
std::string filename = mjuu_combinePaths(model->texturedir_, cubefiles_[i]);
// load PNG or custom
unsigned int w, h;
@@ -3895,7 +3897,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// make filename
std::string filename = mjuu_combinePaths(model->modelfiledir_, model->texturedir_, file_);
std::string filename = mjuu_combinePaths(model->texturedir_, file_);
// dispatch
if (type==mjTEXTURE_2D) {