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Add checksums (used as a timestamp) to VFS.

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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
This commit is contained in:
Kyle Bayes
2024-02-21 02:24:35 -08:00
committed by Copybara-Service
parent 042760eba8
commit a4a621f6e3
15 changed files with 251 additions and 78 deletions
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doc/includes/references.h
+9 -6
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@@ -691,11 +691,12 @@ struct mjLROpt_ { // options for mj_setLengthRange()
mjtNum tolrange; // convergence tolerance (relative to range)
};
typedef struct mjLROpt_ mjLROpt;
struct mjVFS_ { // virtual file system for loading from memory
int nfile; // number of files present
char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
size_t filesize[mjMAXVFS]; // file size in bytes
void* filedata[mjMAXVFS]; // buffer with file data
struct mjVFS_ { // virtual file system for loading from memory
int nfile; // number of files present
char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
size_t filesize[mjMAXVFS]; // file size in bytes
void* filedata[mjMAXVFS]; // buffer with file data
uint64_t filestamp[mjMAXVFS]; // checksum of the file data
};
typedef struct mjVFS_ mjVFS;
struct mjOption_ { // physics options
@@ -1375,6 +1376,7 @@ typedef struct mjModel_ mjModel;
struct mjResource_ {
char* name; // name of resource (filename, etc)
void* data; // opaque data pointer
char timestamp[512]; // timestamp of the resource
const struct mjpResourceProvider* provider; // pointer to the provider
};
typedef struct mjResource_ mjResource;
@@ -2406,10 +2408,11 @@ typedef struct mjvSceneState_ mjvSceneState;
//----------------------------- MJAPI FUNCTIONS --------------------------------
void mj_defaultVFS(mjVFS* vfs);
int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
int mj_findFileVFS(const mjVFS* vfs, const char* filename);
int mj_deleteFileVFS(mjVFS* vfs, const char* filename);
void mj_deleteVFS(mjVFS* vfs);
int mj_makeEmptyFileVFS(mjVFS* vfs, const char* filename, int filesize);
mjModel* mj_loadXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
int mj_saveLastXML(const char* filename, const mjModel* m, char* error, int error_sz);
void mj_freeLastXML(void);