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Add various improvements for resource providers.

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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
This commit is contained in:
Kyle Bayes
2023-05-05 07:02:51 -07:00
committed by Copybara-Service
parent b798f89212
commit 67f0f5154f
23 changed files with 576 additions and 193 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+4 -4
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@@ -176,7 +176,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear =
// compiler
void mjCMesh::Compile(int default_provider) {
void mjCMesh::Compile(int vfs_provider) {
// load file
if (!file.empty()) {
// remove path from file if necessary
@@ -193,7 +193,7 @@ void mjCMesh::Compile(int default_provider) {
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
mjResource* resource = LoadResource(filename, vfs_provider);
try {
if (!strcasecmp(ext.c_str(), ".stl")) {
@@ -1535,7 +1535,7 @@ mjCSkin::~mjCSkin() {
// compiler
void mjCSkin::Compile(int default_provider) {
void mjCSkin::Compile(int vfs_provider) {
// load file
if (!file.empty()) {
@@ -1564,7 +1564,7 @@ void mjCSkin::Compile(int default_provider) {
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
mjResource* resource = LoadResource(filename, vfs_provider);
try {
LoadSKN(resource);
src/user/user_model.cc
+7 -7
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@@ -2393,7 +2393,7 @@ static void warninghandler(const char* msg) {
// compiler
mjModel* mjCModel::Compile(int default_provider) {
mjModel* mjCModel::Compile(int vfs_provider) {
// The volatile keyword is necessary to prevent a possible memory leak due to
// an interaction between longjmp and compiler optimization. Specifically, at
// the point where the setjmp takes places, these pointers have never been
@@ -2424,7 +2424,7 @@ mjModel* mjCModel::Compile(int default_provider) {
// TryCompile resulted in an mju_error which was converted to a longjmp.
throw mjCError(0, "engine error: %s", errortext);
}
TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), default_provider);
TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), vfs_provider);
} catch (mjCError err) {
// deallocate everything allocated in Compile
mj_deleteModel(m);
@@ -2450,7 +2450,7 @@ mjModel* mjCModel::Compile(int default_provider) {
}
void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
// check if nan test works
double test = mjNAN;
if (mjuu_defined(test)) {
@@ -2527,7 +2527,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
// compile meshes (needed for geom compilation)
for (int i=0; i<meshes.size(); i++) {
meshes[i]->Compile(default_provider);
meshes[i]->Compile(vfs_provider);
}
// automatically set nuser fields
@@ -2586,9 +2586,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
}
// compile all other objects except for keyframes
for (int i=0; i<skins.size(); i++) skins[i]->Compile(default_provider);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(default_provider);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(default_provider);
for (int i=0; i<skins.size(); i++) skins[i]->Compile(vfs_provider);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs_provider);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(vfs_provider);
for (int i=0; i<materials.size(); i++) materials[i]->Compile();
for (int i=0; i<pairs.size(); i++) pairs[i]->Compile();
for (int i=0; i<excludes.size(); i++) excludes[i]->Compile();
src/user/user_model.h
+3 -3
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@@ -65,7 +65,7 @@ class mjCModel {
mjCModel(); // constructor
~mjCModel(); // destructor
mjModel* Compile(int default_provider = 0); // COMPILER: construct mjModel
mjModel* Compile(int vfs_provider = 0); // COMPILER: construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
void FuseStatic(void); // fuse static bodies with parent
void FuseReindex(mjCBody* body); // reindex elements during fuse
@@ -163,8 +163,8 @@ class mjCModel {
int nuser_sensor; // number of mjtNums in sensor_user
private:
void TryCompile(mjModel*& m, mjData*& d, int default_provider);
mjModel* _Compile(int default_provider);
void TryCompile(mjModel*& m, mjData*& d, int vfs_provider);
mjModel* _Compile(int vfs_provider);
void Clear(void); // clear objects allocated by Compile
src/user/user_objects.cc
+14 -14
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@@ -2114,7 +2114,7 @@ void mjCHField::LoadPNG(mjResource* resource) {
// compiler
void mjCHField::Compile(int default_provider) {
void mjCHField::Compile(int vfs_provider) {
// check size parameters
for (int i=0; i<4; i++)
if (size[i]<=0)
@@ -2136,7 +2136,7 @@ void mjCHField::Compile(int default_provider) {
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
mjResource* resource = LoadResource(filename, vfs_provider);
// load depending on format
string ext = mjuu_getext(filename);
@@ -2530,12 +2530,12 @@ void mjCTexture::LoadCustom(mjResource* resource,
// load from PNG or custom file, flip if specified
void mjCTexture::LoadFlip(string filename, int default_provider,
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);
mjResource* resource = LoadResource(filename, default_provider);
mjResource* resource = LoadResource(filename, vfs_provider);
try {
if (!strcasecmp(ext.c_str(), ".png")) {
@@ -2597,11 +2597,11 @@ void mjCTexture::LoadFlip(string filename, int default_provider,
// load 2D
void mjCTexture::Load2D(string filename, int default_provider) {
void mjCTexture::Load2D(string filename, int vfs_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, default_provider, image, w, h);
LoadFlip(filename, vfs_provider, image, w, h);
// assign size
width = w;
@@ -2620,7 +2620,7 @@ void mjCTexture::Load2D(string filename, int default_provider) {
// load cube or skybox from single file (repeated or grid)
void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
void mjCTexture::LoadCubeSingle(string filename, int vfs_provider) {
// check gridsize
if (gridsize[0]<1 || gridsize[1]<1 || gridsize[0]*gridsize[1]>12) {
throw mjCError(this,
@@ -2631,7 +2631,7 @@ void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, default_provider, image, w, h);
LoadFlip(filename, vfs_provider, image, w, h);
// check gridsize for compatibility
if (w/gridsize[1]!=h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -2720,7 +2720,7 @@ void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
// load cube or skybox from separate file
void mjCTexture::LoadCubeSeparate(int default_provider) {
void mjCTexture::LoadCubeSeparate(int vfs_provider) {
// keep track of which faces were defined
int loaded[6] = {0, 0, 0, 0, 0, 0};
@@ -2738,7 +2738,7 @@ void mjCTexture::LoadCubeSeparate(int default_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, default_provider, image, w, h);
LoadFlip(filename, vfs_provider, image, w, h);
// PNG must be square
if (w!=h) {
@@ -2792,7 +2792,7 @@ void mjCTexture::LoadCubeSeparate(int default_provider) {
// compiler
void mjCTexture::Compile(int default_provider) {
void mjCTexture::Compile(int vfs_provider) {
// builtin
if (builtin!=mjBUILTIN_NONE) {
// check size
@@ -2835,9 +2835,9 @@ void mjCTexture::Compile(int default_provider) {
// dispatch
if (type==mjTEXTURE_2D) {
Load2D(filename, default_provider);
Load2D(filename, vfs_provider);
} else {
LoadCubeSingle(filename, default_provider);
LoadCubeSingle(filename, vfs_provider);
}
}
@@ -2865,7 +2865,7 @@ void mjCTexture::Compile(int default_provider) {
}
// only cube and skybox
LoadCubeSeparate(default_provider);
LoadCubeSeparate(vfs_provider);
}
// make sure someone allocated data; SHOULD NOT OCCUR
src/user/user_objects.h
+8 -8
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@@ -543,7 +543,7 @@ class mjCMesh: public mjCBase {
private:
mjCMesh(mjCModel* = 0, mjCDef* = 0); // constructor
~mjCMesh(); // destructor
void Compile(int default_provider); // compiler
void Compile(int vfs_provider); // compiler
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
@@ -625,7 +625,7 @@ class mjCSkin: public mjCBase {
private:
mjCSkin(mjCModel* = 0); // constructor
~mjCSkin(); // destructor
void Compile(int default_provider); // compiler
void Compile(int vfs_provider); // compiler
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
int matid; // material id
@@ -651,7 +651,7 @@ class mjCHField : public mjCBase {
private:
mjCHField(mjCModel* model); // constructor
~mjCHField(); // destructor
void Compile(int default_provider); // compiler
void Compile(int vfs_provider); // compiler
void LoadCustom(mjResource* resource); // load from custom format
void LoadPNG(mjResource* resource); // load from PNG format
@@ -695,15 +695,15 @@ class mjCTexture : public mjCBase {
private:
mjCTexture(mjCModel*); // constructor
~mjCTexture(); // destructior
void Compile(int default_provider); // compiler
void Compile(int vfs_provider); // compiler
void Builtin2D(void); // make builtin 2D
void BuiltinCube(void); // make builtin cube
void Load2D(std::string filename, int default_provider); // load 2D from file
void LoadCubeSingle(std::string filename, int default_provider); // load cube from single file
void LoadCubeSeparate(int default_provider); // load cube from separate files
void Load2D(std::string filename, int vfs_provider); // load 2D from file
void LoadCubeSingle(std::string filename, int vfs_provider); // load cube from single file
void LoadCubeSeparate(int vfs_provider); // load cube from separate files
void LoadFlip(std::string filename, int default_provider, // load and flip
void LoadFlip(std::string filename, int vfs_provider, // load and flip
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);
src/user/user_util.cc
+7 -19
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@@ -22,6 +22,7 @@
#include <string_view>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "engine/engine_macro.h"
#include "engine/engine_util_spatial.h"
@@ -558,6 +559,12 @@ bool mjuu_isabspath(string path) {
return false;
}
// path is scheme:filename which we consider an absolute path
// e.g. file URI's are always absolute paths
if (mjp_getResourceProvider(path.c_str()) != nullptr) {
return true;
}
// check first char
const char* str = path.c_str();
if (str[0]=='\\' || str[0]=='/') {
@@ -573,25 +580,6 @@ bool mjuu_isabspath(string path) {
}
// get directory path of file
string mjuu_getfiledir(string filename) {
// no filename
if (filename.empty()) {
return "";
}
// find last pathsymbol
size_t last = filename.find_last_of("/\\");
// no pathsymbol: unknown dir
if (last==string::npos) {
return "";
}
// extract path from filename
return filename.substr(0, last+1);
}
// assemble full filename
string mjuu_makefullname(string filedir, string meshdir, string filename) {
src/user/user_util.h
-3
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@@ -149,9 +149,6 @@ std::string mjuu_getext(std::string_view filename);
// check if path is absolute
bool mjuu_isabspath(std::string path);
// get path from filename
std::string mjuu_getfiledir(std::string filename);
// assemble full filename
std::string mjuu_makefullname(std::string filedir, std::string meshdir, std::string filename);