chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove modelfiledir_ from compiled assets, use owning spec modelfiledir instead.

Browse Source 
Previously specs that were attached to some parent spec would resolve its asset paths relative to the modelfiledir of the parent spec. This means path resolution would change depending on the source of the parent spec. Instead, this change makes asset file path resolution relative to the "owning spec" i.e. the spec where the asset was created.

This enables workflows such as loading a parent spec via resource provider, then loading a child spec via `from_zip` or in memory providing `spec.assets` and resolution will work as intended.

PiperOrigin-RevId: 903207910
Change-Id: Ia58020ab372a3ceadf31e804d145e2ae53d8e5f9
This commit is contained in:
Sam Haves
2026-04-21 06:59:17 -07:00
committed by Copybara-Service
parent 3325971840
commit da01bd37a2
5 changed files with 114 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+4 -16
View File
@@ -4668,9 +4668,6 @@ void mjCHField::NameSpace(const mjCModel* m) {
name = mjuu_stripext(stripped);
}
mjCBase::NameSpace(m);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
}
@@ -4798,15 +4795,12 @@ void mjCHField::Compile(const mjVFS* vfs) {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
// copy paths from model if not already defined
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
mujoco::user::FilePath meshdir_;
meshdir_ = FilePath(mjs_getString(compiler->meshdir));
FilePath filename = meshdir_ + FilePath(file_);
mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
mjSpec* owning_spec = model->FindSpec(compiler);
mjResource* resource = LoadResource(owning_spec->modelfiledir->c_str(), filename.Str(), vfs);
struct CachedHField {
int nrow, ncol;
@@ -4965,9 +4959,6 @@ void mjCTexture::NameSpace(const mjCModel* m) {
name = mjuu_stripext(stripped);
}
mjCBase::NameSpace(m);
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(m->spec_modelfiledir_);
}
}
@@ -5388,7 +5379,8 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
}
// try loading from cache
mjResource* resource = LoadResource(modelfiledir_.Str(), filename, vfs);
mjSpec* owning_spec = model->FindSpec(compiler);
mjResource* resource = LoadResource(owning_spec->modelfiledir->c_str(), filename, vfs);
if (cache && cache->PopulateData(GetCacheId(resource, asset_type), resource, callback)) {
mju_closeResource(resource);
return;
@@ -5640,10 +5632,6 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
void mjCTexture::Compile(const mjVFS* vfs) {
CopyFromSpec();
// copy paths from model if not already defined
if (modelfiledir_.empty()) {
modelfiledir_ = FilePath(model->modelfiledir_);
}
mujoco::user::FilePath texturedir_;
texturedir_ = FilePath(mjs_getString(compiler->texturedir));