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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_native_reader.h
+7 -6
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@@ -49,16 +49,17 @@ class mjXReader : public mjXBase {
private:
// XML section specific to MJCF
void Default(tinyxml2::XMLElement* section, const mjsDefault* def); // default section
void Default(tinyxml2::XMLElement* section, const mjsDefault* def,
const mjVFS* vfs); // default section
void Extension(tinyxml2::XMLElement* section); // extension section
void Custom(tinyxml2::XMLElement* section); // custom section
void Visual(tinyxml2::XMLElement* section); // visual section
void Statistic(tinyxml2::XMLElement* section); // statistic section
void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs); // asset section
void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
mjsFrame* pframe); // body/world section
mjsFrame* pframe, const mjVFS* vfs); // body/world section
void Contact(tinyxml2::XMLElement* section); // contact section
void Deformable(tinyxml2::XMLElement* section); // deformable section
void Deformable(tinyxml2::XMLElement* section, const mjVFS* vfs); // deformable section
void Equality(tinyxml2::XMLElement* section); // equality section
void Tendon(tinyxml2::XMLElement* section); // tendon section
void Actuator(tinyxml2::XMLElement* section); // actuator section
@@ -67,8 +68,8 @@ class mjXReader : public mjXBase {
// single element parsers, used in defaults and main body
void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh);
void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin);
void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh, const mjVFS* vfs);
void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin, const mjVFS* vfs);
void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
@@ -80,7 +81,7 @@ class mjXReader : public mjXBase {
void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsDefault* def);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody);
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjVFS* vfs);
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
mjXSchema schema; // schema used for validation