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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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.c
+6 -4
View File
@@ -450,7 +450,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames) {
int nuser_sensor, int nnames, int npaths) {
intptr_t offset = 0;
// allocate mjModel
@@ -519,6 +519,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
+ nskin + nhfield + ntex + nmat + npair + nexclude + neq
+ ntendon + nu + nsensor + nnumeric + ntext + ntuple
+ nkey + nplugin);
m->npaths = npaths;
#define X(name) \
if ((m->name) < 0) { \
@@ -597,7 +598,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->ntuple, src->ntupledata, src->nkey, src->nmocap, src->nplugin,
src->npluginattr, src->nuser_body, src->nuser_jnt, src->nuser_geom,
src->nuser_site, src->nuser_cam, src->nuser_tendon, src->nuser_actuator,
src->nuser_sensor, src->nnames);
src->nuser_sensor, src->nnames, src->npaths);
}
if (!dest) {
mjERROR("failed to make mjModel. Invalid sizes.");
@@ -762,7 +763,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
ints[28], ints[29], ints[30], ints[31], ints[32], ints[33], ints[34],
ints[35], ints[36], ints[37], ints[38], ints[39], ints[40], ints[41],
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52]);
ints[49], ints[50], ints[51], ints[52], ints[53]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_closeResource(r);
mju_warning("Corrupted model, wrong size parameters");
@@ -1791,7 +1792,8 @@ const char* mj_validateReferences(const mjModel* m) {
X(name_numericadr, nnumeric, nnames , 0 ) \
X(name_textadr, ntext, nnames , 0 ) \
X(name_tupleadr, ntuple, nnames , 0 ) \
X(name_keyadr, nkey, nnames , 0 )
X(name_keyadr, nkey, nnames , 0 ) \
X(mesh_assetpathadr, nmesh, npaths , 0 )
#define X(adrarray, nadrs, ntarget, numarray) { \
int *nums = (numarray); \
src/engine/engine_io.h
+1 -1
View File
@@ -62,7 +62,7 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int nbvh, int n
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames);
int nuser_sensor, int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);