Introduce mjpEncoder plugin architecture

Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.

New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type

The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.

PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364

This commit is contained in:

Sam Haves

2026-03-25 05:34:48 -07:00

committed by

Copybara-Service

parent 2d33b50243

commit f5d3ce3451

15 changed files with 617 additions and 0 deletions

									
										python/mujoco/codegen/generate_cs_bindings.py
									
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				@@ -209,6 +209,7 @@ _OPAQUE_STRUCTS = [

				    'mjTask',

				    'mjThreadPool',

				    'mjpDecoder',

				    'mjpEncoder',

				    'mjpResourceProvider',

				    'mjsElement',

				    'mjString',