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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
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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