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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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src/user/user_model.cc
+41 -3
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@@ -275,6 +275,7 @@ void mjCModel::Clear(void) {
ntupledata = 0;
npluginattr = 0;
nnames = 0;
npaths = 0;
memory = -1;
nstack = -1;
nemax = 0;
@@ -1002,6 +1003,18 @@ void mjCModel::SetSizes(void) {
for (int i=0; i<nkey; i++) nnames += (int)keys[i]->name.length() + 1;
for (int i=0; i<nplugin; i++) nnames += (int)plugins[i]->name.length() + 1;
// npaths
npaths = 0;
for (int i=0; i<nmesh; i++) {
if (meshes[i]->file().empty()) {
continue;
}
npaths += (int)meshes[i]->file().length() + 1;
}
if (npaths == 0) {
npaths = 1;
}
// nemax
for (int i=0; i<neq; i++)
if (equalities[i]->type==mjEQ_CONNECT) {
@@ -1197,7 +1210,6 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
}
// process names from one list: concatenate, compute addresses
template <class T>
static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
@@ -1313,6 +1325,30 @@ void mjCModel::CopyNames(mjModel* m) {
}
void mjCModel::CopyPaths(mjModel* m) {
// start with 0 address.
size_t adr = 0;
m->paths[0] = 0;
for (unsigned int i=0; i<meshes.size(); i++) {
if (meshes[i]->file().empty()) {
m->mesh_assetpathadr[i] = -1;
continue;
}
m->mesh_assetpathadr[i] = adr;
// copy path
size_t path_size = meshes[i]->file().size();
memcpy(m->paths+adr, meshes[i]->file().c_str(), path_size);
adr += path_size;
// append 0
m->paths[adr] = 0;
adr++;
}
}
// copy objects inside kinematic tree
void mjCModel::CopyTree(mjModel* m) {
@@ -2703,7 +2739,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames);
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
if (!m) {
throw mjCError(0, "could not create mjModel");
}
@@ -2712,6 +2748,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
m->opt = option;
m->vis = visual;
CopyNames(m);
CopyPaths(m);
CopyTree(m);
// assign plugin slots and copy plugin config attributes
@@ -2918,7 +2955,8 @@ bool mjCModel::CopyBack(const mjModel* m) {
neq!=m->neq || ntendon!=m->ntendon || nwrap!=m->nwrap || nsensor!=m->nsensor ||
nnumeric!=m->nnumeric || nnumericdata!=m->nnumericdata || ntext!=m->ntext ||
ntextdata!=m->ntextdata || nnames!=m->nnames || nM!=m->nM || nD!=m->nD ||
nB!=m->nB || nemax!=m->nemax || nconmax!=m->nconmax || njmax!=m->njmax) {
nB!=m->nB || nemax!=m->nemax || nconmax!=m->nconmax || njmax!=m->njmax ||
npaths!=m->npaths) {
errInfo = mjCError(0, "incompatible models in CopyBack");
return false;
}