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Refactor VFS logic out of ResourceProvider plugin code.

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PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
This commit is contained in:
Kyle Bayes
2023-08-30 04:46:32 -07:00
committed by Copybara-Service
parent 215433f5f7
commit f86e8b449f
22 changed files with 310 additions and 445 deletions
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src/engine/engine_io.c
+6 -24
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@@ -661,7 +661,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
// load model from binary MJB resource
static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
int header[NHEADER] = {0};
int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnsize(), getnptr()};
int ints[256];
@@ -670,8 +670,11 @@ static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
mjModel *m = 0;
mjResource* r = NULL;
if((r = mju_openResource(filename, vfs_provider)) == NULL) {
return NULL;
// first try vfs, otherwise try a provider or OS filesystem
if ((r = mju_openVfsResource(filename, vfs)) == NULL) {
if ((r = mju_openResource(filename)) == NULL) {
return NULL;
}
}
const void* buffer = NULL;
@@ -785,27 +788,6 @@ static mjModel* _mj_loadModel(const char* filename, int vfs_provider) {
// load model from binary MJB file
// if vfs is not NULL, look up file in vfs before reading from disk
mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
if (vfs == NULL) {
return _mj_loadModel(filename, 0);
}
int index = mj_registerVfsProvider(vfs);
if (index < 1) {
mjERROR("could not allocate memory");
return NULL;
}
mjModel* model = _mj_loadModel(filename, index);
mjp_unregisterResourceProvider(index);
return model;
}
// de-allocate mjModel
void mj_deleteModel(mjModel* m) {
if (m) {