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

PiperOrigin-RevId: 567347908 Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:04 -07:00
parent 4f34cacf35
commit 7f8018a3f3
15 changed files with 132 additions and 15 deletions
@@ -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