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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/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 ----------------------------------------------------------