Roll back VFS refactor due internal breakages

PiperOrigin-RevId: 856273160
Change-Id: I4097e05ed4e48ebee05b4347d0f227d4f39c1b09

doc/APIreference/functions.rst

@@ -1357,25 +1357,6 @@ The VFS must first be allocated using :ref:`mj_defaultVFS` and must be freed wit
 
 Initialize an empty VFS, :ref:`mj_deleteVFS` must be called to deallocate the VFS.
 
-.. _mj_mountVFS:
-
-`mj_mountVFS <#mj_mountVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_mountVFS
-
-Mount a ResourceProvider to handle file operations under the given path; return 0: success,
-2: repeated name, -1: invalid resource provider.
-
-.. _mj_unmountVFS:
-
-`mj_unmountVFS <#mj_unmountVFS>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_unmountVFS
-
-Unmount a previously mounted ResourceProvider; return 0: success, -1: not found in VFS.
-
 .. _mj_addFileVFS:
 
 `mj_addFileVFS <#mj_addFileVFS>`__

doc/changelog.rst

@@ -45,8 +45,6 @@ General
   See :ref:`rangefinder<sensor-rangefinder>` for details.
 - Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
   Unused by the renderer, it serves as a convenient location to store a camera's supported output types.
-- Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting Allows
-  providers to be used to open/read/close resources dynamically at arbitrary paths.
 - Non-breaking ABI changes:
 
   - The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from

doc/includes/references.h

@@ -1619,7 +1619,6 @@ typedef struct mjModel_ mjModel;
 struct mjResource_ {
   char* name;                                   // name of resource (filename, etc)
   void* data;                                   // opaque data pointer
-  mjVFS* vfs;                                   // pointer to the VFS
   char timestamp[512];                          // timestamp of the resource
   const struct mjpResourceProvider* provider;   // pointer to the provider
 };
@@ -1629,8 +1628,6 @@ struct mjpResourceProvider {
   mjfOpenResource open;             // opening callback
   mjfReadResource read;             // reading callback
   mjfCloseResource close;           // closing callback
-  mjfMountResource mount;           // mounting callback (optional)
-  mjfUnmountResource unmount;       // unmounting callback (optional)
   mjfResourceModified modified;     // resource modified callback (optional)
   void* data;                       // opaque data pointer (resource invariant)
 };
@@ -3087,8 +3084,6 @@ typedef struct mjvFigure_ mjvFigure;
 
 //----------------------------- MJAPI FUNCTIONS --------------------------------
 void mj_defaultVFS(mjVFS* vfs);
-int mj_mountVFS(mjVFS* vfs, const char* filepath, const mjpResourceProvider* provider);
-int mj_unmountVFS(mjVFS* vfs, const char* filename);
 int mj_addFileVFS(mjVFS* vfs, const char* directory, const char* filename);
 int mj_addBufferVFS(mjVFS* vfs, const char* name, const void* buffer, int nbuffer);
 int mj_deleteFileVFS(mjVFS* vfs, const char* filename);