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Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.

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PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
This commit is contained in:
Kyle Bayes
2023-07-19 06:50:35 -07:00
committed by Copybara-Service
parent 5f327b0c31
commit 5fcdae771b
12 changed files with 556 additions and 44 deletions
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src/user/user_objects.cc
+43 -10
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@@ -507,6 +507,23 @@ mjResource* mjCBase::LoadResource(string filename, int provider) {
}
// Get and sanitize content type from raw_text if not empty, otherwise parse
// content type from resource_name; throw error on failure
std::string mjCBase::GetAssetContentType(std::string_view resource_name,
std::string_view raw_text) {
if (!raw_text.empty()) {
auto type = mjuu_parseContentTypeAttrType(raw_text);
auto subtype = mjuu_parseContentTypeAttrSubtype(raw_text);
if (!type.has_value() || !subtype.has_value()) {
throw mjCError(this, "invalid format for content_type");
}
return std::string(*type) + "/" + std::string(*subtype);
} else {
return mjuu_extToContentType(resource_name);
}
}
//------------------ class mjCBody implementation --------------------------------------------------
// constructor
@@ -2149,15 +2166,22 @@ void mjCHField::Compile(int vfs_provider) {
"hfield '%s' (id = %d) specified from file and manually", name.c_str(), id);
}
// make filename
std::string asset_type = GetAssetContentType(file, content_type);
// fallback to custom
if (asset_type.empty()) {
asset_type = "image/vnd.mujoco.hfield";
}
if (asset_type != "image/png" && asset_type != "image/vnd.mujoco.hfield") {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, vfs_provider);
// load depending on format
string ext = mjuu_getext(filename);
try {
if (!strcasecmp(ext.c_str(), ".png")) {
if (asset_type == "image/png") {
LoadPNG(resource);
} else {
LoadCustom(resource);
@@ -2548,15 +2572,24 @@ void mjCTexture::LoadCustom(mjResource* resource,
void mjCTexture::LoadFlip(string filename, int vfs_provider,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
// dispatch to PNG or Custom loaded
string ext = mjuu_getext(filename);
std::string asset_type = GetAssetContentType(filename, content_type);
// fallback to custom
if (asset_type.empty()) {
asset_type = "image/vnd.mujoco.texture";
}
if (asset_type != "image/png" && asset_type != "image/vnd.mujoco.texture") {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
mjResource* resource = LoadResource(filename, vfs_provider);
try {
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(resource, image, w, h);
if (asset_type == "image/png") {
LoadPNG(resource, image, w, h);
} else {
LoadCustom(resource, image, w, h);
LoadCustom(resource, image, w, h);
}
mju_closeResource(resource);
} catch(mjCError err) {