Add option to mjspec for creating a texture directly from a buffer.

PiperOrigin-RevId: 662186527 Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:26:39 -07:00
parent 20cae556ee
commit 851bb6eef4
16 changed files with 267 additions and 95 deletions
@@ -146,6 +146,24 @@ def _ptr_binding_code(
          self.{fullvarname}->push_back(py::cast<{vartype}>(val));
      }}
    }}, py::return_value_policy::reference_internal);"""
+  elif vartype == 'mjBuffer':  # C++ buffer -> Python list
+    return f"""\
+  {classname}.def_property(
+    "{varname}",
+    []({rawclassname}& self) -> py::list {{
+        py::list list;
+        for (auto val : *self.{fullvarname}) {{
+          list.append(val);
+        }}
+        return list;
+      }},
+    []({rawclassname}& self, py::object rhs) {{
+        self.{fullvarname}->clear();
+        self.{fullvarname}->reserve(py::len(rhs));
+        for (auto val : rhs) {{
+          self.{fullvarname}->push_back(py::cast<const std::byte>(val));
+        }}
+    }}, py::return_value_policy::reference_internal);"""
  elif vartype == 'mjStringVec':  # C++ vector of strings -> Python list
    return f"""\
  {classname}.def_property(