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Move meshdir and texturedir to mjsCompiler.

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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.

Fixes #2834.

PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
This commit is contained in:
Alessio Quaglino
2025-09-19 09:04:42 -07:00
committed by Copybara-Service
parent 681f5767b2
commit 77e025ea98
16 changed files with 98 additions and 79 deletions
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src/user/user_objects.cc
+18 -16
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@@ -1210,6 +1210,13 @@ void mjCBase::NameSpace(const mjCModel* m) {
mjsCompiler* mjCBase::FindCompiler(const mjsCompiler* compiler) const {
mjSpec* origin = model->FindSpec(compiler);
return origin ? &origin->compiler : &model->spec.compiler;
}
// load resource if found (fallback to OS filesystem)
mjResource* mjCBase::LoadResource(const std::string& modelfiledir,
const std::string& filename,
@@ -1313,8 +1320,7 @@ mjCBody::mjCBody(mjCModel* _model) {
mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
model = _model;
mjSpec* origin = model->FindSpec(other.compiler);
compiler = origin ? &origin->compiler : &model->spec.compiler;
compiler = FindCompiler(other.compiler);
*this = other;
CopyPlugin();
}
@@ -1389,7 +1395,8 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
mjCBody& mjCBody::operator+=(const mjCFrame& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
static_cast<mjCModel*>(other.model->spec.element)->AddRef();
}
// create a copy of the subtree that contains the frame
@@ -2644,7 +2651,8 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
// append a copy of the attached spec
if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
static_cast<mjCModel*>(other.model->spec.element)->AddRef();
}
// apply namespace and store keyframes in the source model
@@ -4363,9 +4371,6 @@ void mjCHField::NameSpace(const mjCModel* m) {
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(m->spec_meshdir_);
}
}
@@ -4489,9 +4494,8 @@ void mjCHField::Compile(const mjVFS* vfs) {
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
if (meshdir_.empty()) {
meshdir_ = FilePath(model->meshdir_);
}
mujoco::user::FilePath meshdir_;
meshdir_ = FilePath(mjs_getString(compiler->meshdir));
FilePath filename = meshdir_ + FilePath(file_);
mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
@@ -4626,9 +4630,6 @@ void mjCTexture::NameSpace(const mjCModel* m) {
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
if (texturedir_.empty()) {
texturedir_ = FilePath(m->spec_texturedir_);
}
}
@@ -5218,6 +5219,8 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// make filename
mujoco::user::FilePath texturedir_;
texturedir_ = FilePath(mjs_getString(compiler->texturedir));
FilePath filename = texturedir_ + FilePath(cubefiles_[i]);
// load PNG or custom
@@ -5296,9 +5299,8 @@ void mjCTexture::Compile(const mjVFS* vfs) {
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
if (texturedir_.empty()) {
texturedir_ = FilePath(model->texturedir_);
}
mujoco::user::FilePath texturedir_;
texturedir_ = FilePath(mjs_getString(compiler->texturedir));
// buffer from user
if (!data_.empty()) {