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Update XML parsing to store asset path so that assets can be recovered and sent to external renderers

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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
This commit is contained in:
Matthew Bennice
2023-09-21 10:27:04 -07:00
committed by Copybara-Service
parent 4f34cacf35
commit 7f8018a3f3
15 changed files with 132 additions and 15 deletions
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include/mujoco/mjmodel.h
+5
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@@ -593,6 +593,7 @@ struct mjModel_ {
int nuser_sensor; // number of mjtNums in sensor_user
int nnames; // number of chars in all names
int nnames_map; // number of slots in the names hash map
int npaths; // number of chars in all paths
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
@@ -777,6 +778,7 @@ struct mjModel_ {
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_assetpathadr; // address of asset path for mesh; -1: none (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
@@ -983,6 +985,9 @@ struct mjModel_ {
int* name_pluginadr; // plugin instance name pointers (nplugin x 1)
char* names; // names of all objects, 0-terminated (nnames x 1)
int* names_map; // internal hash map of names (nnames_map x 1)
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
};
typedef struct mjModel_ mjModel;
include/mujoco/mjvisualize.h
+3
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@@ -401,6 +401,7 @@ struct mjvSceneState_ {
int nwrap;
int nsensor;
int nnames;
int npaths;
int nsensordata;
mjOption opt;
@@ -468,6 +469,7 @@ struct mjvSceneState_ {
int* mesh_bvhnum;
int* mesh_texcoordadr;
int* mesh_graphadr;
int* mesh_assetpathadr;
int* skin_matid;
int* skin_group;
@@ -543,6 +545,7 @@ struct mjvSceneState_ {
int* name_tendonadr;
int* name_actuatoradr;
char* names;
char* paths;
} model;
// fields in mjData that are necessary to re-render a scene
include/mujoco/mjxmacro.h
+5
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@@ -118,6 +118,7 @@
X ( nuser_actuator ) \
X ( nuser_sensor ) \
XMJV( nnames ) \
XMJV( npaths ) \
X ( nnames_map ) \
X ( nM ) \
X ( nD ) \
@@ -132,6 +133,8 @@
X ( narena ) \
X ( nbuffer )
/* nbuffer needs to be the final field */
// define symbols needed in MJMODEL_POINTERS (corresponding to number of columns)
#define MJMODEL_POINTERS_PREAMBLE( m ) \
@@ -296,6 +299,7 @@
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
XMJV( int, mesh_assetpathadr, nmesh, 1 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \
X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
@@ -468,6 +472,7 @@
X ( int, name_pluginadr, nplugin, 1 ) \
XMJV( char, names, nnames, 1 ) \
X ( int, names_map, nnames_map, 1 ) \
XMJV( char, paths, npaths, 1 ) \
//-------------------------------- mjData ----------------------------------------------------------