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Introduce mjpEncoder plugin architecture

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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
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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -6700,6 +6700,9 @@ public static unsafe extern void mj_clearCache(mjCache_* cache);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern mjModel_* mj_loadXML([MarshalAs(UnmanagedType.LPStr)]string filename, void* vfs, StringBuilder error, int error_sz);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_encode(void* s, mjModel_* m, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string content_type, void* vfs, StringBuilder error, int error_sz);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_saveLastXML([MarshalAs(UnmanagedType.LPStr)]string filename, mjModel_* m, StringBuilder error, int error_sz);