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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/user/user_model.cc
+7 -7
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@@ -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();