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Add support for loading XML models with VFS in WASM bindings.

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PiperOrigin-RevId: 874756898
Change-Id: If2c30aef4c690cf0852587261ca32a3b91448621
This commit is contained in:
Google DeepMind
2026-02-24 13:08:14 -08:00
committed by Copybara-Service
parent 09c7633a76
commit a83fa7299d
4 changed files with 79 additions and 10 deletions
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wasm/codegen/templates/bindings.cc
+10 -1
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@@ -714,7 +714,7 @@ MjSpec::~MjSpec() {
mjSpec *MjSpec::get() const { return ptr_; }
void MjSpec::set(mjSpec *ptr) { ptr_ = ptr; }
std::unique_ptr<MjModel> mj_loadXML_wrapper(std::string filename) {
std::unique_ptr<MjModel> mj_loadXML_wrapper_1(std::string filename) {
char error[1000];
mjModel *model = mj_loadXML(filename.c_str(), nullptr, error, sizeof(error));
if (!model) {
@@ -723,6 +723,15 @@ std::unique_ptr<MjModel> mj_loadXML_wrapper(std::string filename) {
return std::unique_ptr<MjModel>(new MjModel(model));
}
std::unique_ptr<MjModel> mj_loadXML_wrapper_2(std::string filename, const MjVFS& vfs) {
char error[1000];
mjModel *model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
if (!model) {
mju_error("Loading error: %s\n", error);
}
return std::unique_ptr<MjModel>(new MjModel(model));
}
void mj_saveModel_wrapper(const MjModel& m, const StringOrNull& filename, const val& buffer) {
UNPACK_NULLABLE_STRING(filename);
UNPACK_NULLABLE_VALUE(uint8_t, buffer);