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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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+5 -4
View File
@@ -29,6 +29,7 @@
#include <MC.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_resource.h"
@@ -329,7 +330,7 @@ void mjCMesh::LoadSDF() {
// compiler
void mjCMesh::Compile(int vfs_provider) {
void mjCMesh::Compile(const mjVFS* vfs) {
// load file
if (!file_.empty()) {
// remove path from file if necessary
@@ -348,7 +349,7 @@ void mjCMesh::Compile(int vfs_provider) {
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file_);
mjResource* resource = LoadResource(filename, vfs_provider);
mjResource* resource = LoadResource(filename, vfs);
try {
if (asset_type == "model/stl") {
@@ -1836,7 +1837,7 @@ mjCSkin::~mjCSkin() {
// compiler
void mjCSkin::Compile(int vfs_provider) {
void mjCSkin::Compile(const mjVFS* vfs) {
// load file
if (!file.empty()) {
@@ -1865,7 +1866,7 @@ void mjCSkin::Compile(int vfs_provider) {
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, vfs_provider);
mjResource* resource = LoadResource(filename, vfs);
try {
LoadSKN(resource);
src/user/user_model.cc
+7 -7
View File
@@ -2423,7 +2423,7 @@ static void warninghandler(const char* msg) {
// compiler
mjModel* mjCModel::Compile(int vfs_provider) {
mjModel* mjCModel::Compile(const mjVFS* vfs) {
// The volatile keyword is necessary to prevent a possible memory leak due to
// an interaction between longjmp and compiler optimization. Specifically, at
// the point where the setjmp takes places, these pointers have never been
@@ -2454,7 +2454,7 @@ mjModel* mjCModel::Compile(int vfs_provider) {
// TryCompile resulted in an mju_error which was converted to a longjmp.
throw mjCError(0, "engine error: %s", errortext);
}
TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), vfs_provider);
TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), vfs);
} catch (mjCError err) {
// deallocate everything allocated in Compile
mj_deleteModel(m);
@@ -2480,7 +2480,7 @@ mjModel* mjCModel::Compile(int vfs_provider) {
}
void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// check if nan test works
double test = mjNAN;
if (mjuu_defined(test)) {
@@ -2557,7 +2557,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
// compile meshes (needed for geom compilation)
for (int i=0; i<meshes.size(); i++) {
meshes[i]->Compile(vfs_provider);
meshes[i]->Compile(vfs);
}
// automatically set nuser fields
@@ -2616,9 +2616,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
}
// compile all other objects except for keyframes
for (int i=0; i<skins.size(); i++) skins[i]->Compile(vfs_provider);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs_provider);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(vfs_provider);
for (int i=0; i<skins.size(); i++) skins[i]->Compile(vfs);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(vfs);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(vfs);
for (int i=0; i<materials.size(); i++) materials[i]->Compile();
for (int i=0; i<pairs.size(); i++) pairs[i]->Compile();
for (int i=0; i<excludes.size(); i++) excludes[i]->Compile();
src/user/user_model.h
+3 -3
View File
@@ -65,7 +65,7 @@ class mjCModel {
mjCModel(); // constructor
~mjCModel(); // destructor
mjModel* Compile(int vfs_provider = 0); // COMPILER: construct mjModel
mjModel* Compile(const mjVFS* vfs = 0); // COMPILER: construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
void FuseStatic(void); // fuse static bodies with parent
void FuseReindex(mjCBody* body); // reindex elements during fuse
@@ -163,8 +163,8 @@ class mjCModel {
int nuser_sensor; // number of mjtNums in sensor_user
private:
void TryCompile(mjModel*& m, mjData*& d, int vfs_provider);
mjModel* _Compile(int vfs_provider);
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
mjModel* _Compile(const mjVFS* vfs);
void Clear(void); // clear objects allocated by Compile
src/user/user_objects.cc
+20 -22
View File
@@ -39,6 +39,7 @@
#include "engine/engine_util_misc.h"
#include "engine/engine_util_solve.h"
#include "engine/engine_util_spatial.h"
#include "engine/engine_vfs.h"
#include "user/user_model.h"
#include "user/user_util.h"
@@ -495,17 +496,14 @@ mjCBase::mjCBase() {
// load resource if found (fallback to OS filesystem)
mjResource* mjCBase::LoadResource(string filename, int provider) {
mjResource* mjCBase::LoadResource(string filename, const mjVFS* vfs) {
mjResource* r = nullptr;
const char* cname = filename.c_str();
// try reading from given provider
if ((r = mju_openResource(cname, provider)) == nullptr) {
if (!provider) {
throw mjCError(0, "file not found: '%s'", cname);
}
// if provider wasn't the OS filesystem try to fallback to OS filesystem
if ((r = mju_openResource(filename.c_str(), 0)) == nullptr) {
// try reading from provided VFS
if ((r = mju_openVfsResource(cname, vfs)) == nullptr) {
// not in vfs try a provider or fallback to OS filesystem
if ((r = mju_openResource(filename.c_str())) == nullptr) {
throw mjCError(this, "resource not found via provider or OS filesystem: '%s'", cname);
}
}
@@ -2194,7 +2192,7 @@ void mjCHField::LoadPNG(mjResource* resource) {
// compiler
void mjCHField::Compile(int vfs_provider) {
void mjCHField::Compile(const mjVFS* vfs) {
// check size parameters
for (int i=0; i<4; i++)
if (size[i]<=0)
@@ -2226,7 +2224,7 @@ void mjCHField::Compile(int vfs_provider) {
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, vfs_provider);
mjResource* resource = LoadResource(filename, vfs);
try {
if (asset_type == "image/png") {
@@ -2617,7 +2615,7 @@ void mjCTexture::LoadCustom(mjResource* resource,
// load from PNG or custom file, flip if specified
void mjCTexture::LoadFlip(string filename, int vfs_provider,
void mjCTexture::LoadFlip(string filename, const mjVFS* vfs,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
std::string asset_type = GetAssetContentType(filename, content_type);
@@ -2631,7 +2629,7 @@ void mjCTexture::LoadFlip(string filename, int vfs_provider,
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
mjResource* resource = LoadResource(filename, vfs_provider);
mjResource* resource = LoadResource(filename, vfs);
try {
if (asset_type == "image/png") {
@@ -2693,11 +2691,11 @@ void mjCTexture::LoadFlip(string filename, int vfs_provider,
// load 2D
void mjCTexture::Load2D(string filename, int vfs_provider) {
void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs_provider, image, w, h);
LoadFlip(filename, vfs, image, w, h);
// assign size
width = w;
@@ -2716,7 +2714,7 @@ void mjCTexture::Load2D(string filename, int vfs_provider) {
// load cube or skybox from single file (repeated or grid)
void mjCTexture::LoadCubeSingle(string filename, int vfs_provider) {
void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
// check gridsize
if (gridsize[0]<1 || gridsize[1]<1 || gridsize[0]*gridsize[1]>12) {
throw mjCError(this,
@@ -2727,7 +2725,7 @@ void mjCTexture::LoadCubeSingle(string filename, int vfs_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs_provider, image, w, h);
LoadFlip(filename, vfs, image, w, h);
// check gridsize for compatibility
if (w/gridsize[1]!=h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -2816,7 +2814,7 @@ void mjCTexture::LoadCubeSingle(string filename, int vfs_provider) {
// load cube or skybox from separate file
void mjCTexture::LoadCubeSeparate(int vfs_provider) {
void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// keep track of which faces were defined
int loaded[6] = {0, 0, 0, 0, 0, 0};
@@ -2834,7 +2832,7 @@ void mjCTexture::LoadCubeSeparate(int vfs_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs_provider, image, w, h);
LoadFlip(filename, vfs, image, w, h);
// PNG must be square
if (w!=h) {
@@ -2888,7 +2886,7 @@ void mjCTexture::LoadCubeSeparate(int vfs_provider) {
// compiler
void mjCTexture::Compile(int vfs_provider) {
void mjCTexture::Compile(const mjVFS* vfs) {
// builtin
if (builtin!=mjBUILTIN_NONE) {
// check size
@@ -2931,9 +2929,9 @@ void mjCTexture::Compile(int vfs_provider) {
// dispatch
if (type==mjTEXTURE_2D) {
Load2D(filename, vfs_provider);
Load2D(filename, vfs);
} else {
LoadCubeSingle(filename, vfs_provider);
LoadCubeSingle(filename, vfs);
}
}
@@ -2961,7 +2959,7 @@ void mjCTexture::Compile(int vfs_provider) {
}
// only cube and skybox
LoadCubeSeparate(vfs_provider);
LoadCubeSeparate(vfs);
}
// make sure someone allocated data; SHOULD NOT OCCUR
src/user/user_objects.h
+10 -9
View File
@@ -23,6 +23,7 @@
#include "lodepng.h"
#include <mujoco/mjmodel.h>
#include <mujoco/mjplugin.h>
// forward declarations of all mjC/X classes
class mjCError;
@@ -173,7 +174,7 @@ class mjCBase {
public:
// load resource if found (fallback to OS filesystem)
mjResource* LoadResource(std::string filename, int provider);
mjResource* LoadResource(std::string filename, const mjVFS* vfs);
// Get and sanitize content type from raw_text if not empty, otherwise parse
// content type from resource_name; throw on failure
@@ -572,7 +573,7 @@ class mjCMesh: public mjCBase {
void set_usertexcoord(std::optional<std::vector<float>>&& usertexcoord);
void set_userface(std::optional<std::vector<int>>&& userface);
void Compile(int vfs_provider); // compiler
void Compile(const mjVFS* vfs); // compiler
double* GetPosPtr(mjtMeshType type); // get position
double* GetQuatPtr(mjtMeshType type); // get orientation
double* GetInertiaBoxPtr(mjtMeshType type); // get inertia box
@@ -696,7 +697,7 @@ class mjCSkin: public mjCBase {
private:
mjCSkin(mjCModel* = 0); // constructor
~mjCSkin(); // destructor
void Compile(int vfs_provider); // compiler
void Compile(const mjVFS* vfs); // compiler
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
int matid; // material id
@@ -723,7 +724,7 @@ class mjCHField : public mjCBase {
private:
mjCHField(mjCModel* model); // constructor
~mjCHField(); // destructor
void Compile(int vfs_provider); // compiler
void Compile(const mjVFS* vfs); // compiler
void LoadCustom(mjResource* resource); // load from custom format
void LoadPNG(mjResource* resource); // load from PNG format
@@ -768,15 +769,15 @@ class mjCTexture : public mjCBase {
private:
mjCTexture(mjCModel*); // constructor
~mjCTexture(); // destructior
void Compile(int vfs_provider); // compiler
void Compile(const mjVFS* vfs); // compiler
void Builtin2D(void); // make builtin 2D
void BuiltinCube(void); // make builtin cube
void Load2D(std::string filename, int vfs_provider); // load 2D from file
void LoadCubeSingle(std::string filename, int vfs_provider); // load cube from single file
void LoadCubeSeparate(int vfs_provider); // load cube from separate files
void Load2D(std::string filename, const mjVFS* vfs); // load 2D from file
void LoadCubeSingle(std::string filename, const mjVFS* vfs); // load cube from single file
void LoadCubeSeparate(const mjVFS* vfs); // load cube from separate files
void LoadFlip(std::string filename, int vfs_provider, // load and flip
void LoadFlip(std::string filename, const mjVFS* vfs, // load and flip
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h);