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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/xml/xml.cc
+9 -10
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@@ -156,8 +156,8 @@ void IncludeXML(mjXReader& reader, XMLElement* elem,
}
// get filename
auto file_attr = mjXUtil::ReadAttrFile(elem, "file", reader.ModelFileDir(),
true);
auto file_attr = mjXUtil::ReadAttrFile(elem, "file", vfs,
reader.ModelFileDir(), true);
if (!file_attr.has_value()) {
throw mjXError(elem, "Include element missing file attribute");
}
@@ -171,17 +171,17 @@ void IncludeXML(mjXReader& reader, XMLElement* elem,
// TODO: b/325905702 - We have a messy wrapper here to remain backwards
// compatible, which will be removed in the near future.
FilePath fullname = reader.ModelFileDir() + filename;
// legacy behavior: try to load in top level directory
std::array<char, 1024> error;
mjResource *resource = mju_openResource(fullname.c_str(), vfs,
mjResource *resource = mju_openResource(reader.ModelFileDir().c_str(),
filename.c_str(), vfs,
error.data(), error.size());
if (resource == nullptr) {
// new behavior: try to load in relative directory
if (!filename.IsAbs()) {
fullname = dir + filename;
resource = mju_openResource(fullname.c_str(), vfs, error.data(), error.size());
FilePath fullname = dir + filename;
resource = mju_openResource(reader.ModelFileDir().c_str(),
fullname.c_str(), vfs, error.data(), error.size());
}
}
@@ -195,7 +195,6 @@ void IncludeXML(mjXReader& reader, XMLElement* elem,
int ninclude_dir = 0;
mju_getResourceDir(resource, &include_dir, &ninclude_dir);
FilePath next_dir = FilePath(std::string(include_dir, ninclude_dir));
next_dir = dir + next_dir;
elem->SetAttribute("dir", next_dir.c_str());
const char* xmlstring = nullptr;
@@ -285,7 +284,7 @@ mjSpec* ParseXML(const char* filename, const mjVFS* vfs,
// get data source
const char* xmlstring = nullptr;
std::array<char, 1024> rerror;
mjResource* resource = mju_openResource(filename, vfs,
mjResource* resource = mju_openResource("", filename, vfs,
rerror.data(), rerror.size());
if (resource == nullptr) {
std::snprintf(error, nerror, "ParseXML: %s", rerror.data());
@@ -352,7 +351,7 @@ mjSpec* ParseXML(const char* filename, const mjVFS* vfs,
std::unordered_set<std::string> included = {filename};
mjXReader parser;
parser.SetModelFileDir(mjs_getString(spec->modelfiledir));
IncludeXML(parser, root, parser.ModelFileDir(), vfs, included);
IncludeXML(parser, root, FilePath(), vfs, included);
// parse MuJoCo model
parser.SetModel(spec);