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Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it.

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A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).

PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
This commit is contained in:
Kyle Bayes
2023-04-19 03:01:33 -07:00
committed by Copybara-Service
parent b25728cc2e
commit fe3dccfd1d
27 changed files with 1467 additions and 607 deletions
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src/user/user_mesh.cc
+81 -147
View File
@@ -30,13 +30,12 @@
#include <mujoco/mjmodel.h>
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_file.h"
#include "engine/engine_resource.h"
#include "engine/engine_macro.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.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_objects.h"
#include "user/user_util.h"
@@ -180,7 +179,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear =
// compiler
void mjCMesh::Compile(const mjVFS* vfs) {
void mjCMesh::Compile(int default_provider) {
// load file
if (!file.empty()) {
// remove path from file if necessary
@@ -191,11 +190,11 @@ void mjCMesh::Compile(const mjVFS* vfs) {
// load STL, OBJ or MSH
string ext = mjuu_getext(file);
if (!strcasecmp(ext.c_str(), ".stl")) {
LoadSTL(vfs);
LoadSTL(default_provider);
} else if (!strcasecmp(ext.c_str(), ".obj")) {
LoadOBJ(vfs);
LoadOBJ(default_provider);
} else if (!strcasecmp(ext.c_str(), ".msh")) {
LoadMSH(vfs);
LoadMSH(default_provider);
} else {
throw mjCError(this, "Unknown mesh file type: %s", file.c_str());
}
@@ -584,34 +583,36 @@ void mjCMesh::RemoveRepeated() {
// load OBJ mesh
void mjCMesh::LoadOBJ(const mjVFS* vfs) {
void mjCMesh::LoadOBJ(int default_provider) {
// make filename
string filename = mjuu_makefullname(
model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
tinyobj::ObjReader objReader;
char* buffer = nullptr;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id >= 0) {
buffer = static_cast<char*>(vfs->filedata[id]);
int buffer_sz = vfs->filesize[id];
// TODO(etom): support .mtl files in the VFS case?
objReader.ParseFromString(std::string(buffer, buffer_sz), std::string());
// try reading from default provider
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// try reading from filesystem
if (default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not parse OBJ file '%s'", filename.c_str());
}
}
// if not found in vfs, read from file
if (!buffer) {
objReader.ParseFromFile(filename);
tinyobj::ObjReader objReader;
const void* bytes = nullptr;
int buffer_sz = mju_readResource(r, &bytes);
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not parse OBJ file '%s'", filename.c_str());
}
// TODO(etom): support .mtl files?
const char* buffer = (const char*) bytes;
objReader.ParseFromString(std::string(buffer, buffer_sz), std::string());
mju_closeResource(r);
if (!objReader.Valid()) {
std::stringstream msg;
msg << "could not parse OBJ file '" << filename << "': \n"
<< objReader.Error();
throw mjCError(this, "%s", msg.str().c_str());
throw mjCError(this, "could not parse OBJ file '%s'", filename.c_str());
}
const auto& attrib = objReader.GetAttrib();
@@ -685,56 +686,42 @@ void mjCMesh::LoadOBJ(const mjVFS* vfs) {
// load STL binary mesh
void mjCMesh::LoadSTL(const mjVFS* vfs) {
void mjCMesh::LoadSTL(int default_provider) {
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open STL file '%s'", filename.c_str());
}
}
// get file data in buffer
char* buffer = 0;
int buffer_sz = 0;
bool own_buffer = false;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
buffer = (char*)vfs->filedata[id];
buffer_sz = vfs->filesize[id];
}
}
// if not found in vfs, read from file
if (!buffer) {
buffer = (char*) mju_fileToMemory(filename.c_str(), &buffer_sz);
own_buffer = true;
}
int buffer_sz = mju_readResource(r, (const void**) &buffer);
// still not found
if (!buffer) {
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not open STL file '%s'", filename.c_str());
} else if (!buffer_sz) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "STL file '%s' is empty", filename.c_str());
}
// make sure there is enough data for header
if (buffer_sz<84) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "invalid header in STL file '%s'", filename.c_str());
}
// get number of triangles, check bounds
nface = *(unsigned int*)(buffer+80);
if (nface<1 || nface>200000) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this,
"number of faces should be between 1 and 200000 in STL file '%s';"
" perhaps this is an ASCII file?", filename.c_str());
@@ -742,10 +729,7 @@ void mjCMesh::LoadSTL(const mjVFS* vfs) {
// check remaining buffer size
if (nface*50 != buffer_sz-84) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this,
"STL file '%s' has wrong size; perhaps this is an ASCII file?",
filename.c_str());
@@ -765,19 +749,13 @@ void mjCMesh::LoadSTL(const mjVFS* vfs) {
float* v = (float*)(stl+50*i+12*(j+1));
for (int k=0; k < 3; k++) {
if (std::isnan(v[k]) || std::isinf(v[k])) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "STL file '%s' contains invalid vertices.",
filename.c_str());
}
// check if vertex coordinates can be cast to an int safely
if (fabs(v[k])>pow(2, 30)) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this,
"vertex coordinates in STL file '%s' exceed maximum bounds",
filename.c_str());
@@ -797,56 +775,43 @@ void mjCMesh::LoadSTL(const mjVFS* vfs) {
}
}
// free buffer if allocated here
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
RemoveRepeated();
}
// load MSH binary mesh
void mjCMesh::LoadMSH(const mjVFS* vfs) {
void mjCMesh::LoadMSH(int default_provider) {
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// fall back to OS filesystem
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open STL file '%s'", filename.c_str());
}
}
// get file data in buffer
char* buffer = 0;
int buffer_sz = 0;
bool own_buffer = false;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
buffer = (char*)vfs->filedata[id];
buffer_sz = vfs->filesize[id];
}
}
// if not found in vfs, read from file
if (!buffer) {
buffer = (char*) mju_fileToMemory(filename.c_str(), &buffer_sz);
own_buffer = true;
}
int buffer_sz = mju_readResource(r, (const void**) &buffer);
// still not found
if (!buffer) {
throw mjCError(this, "could not open MSH file '%s'", filename.c_str());
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not open STL file '%s'", filename.c_str());
} else if (!buffer_sz) {
if (own_buffer) {
mju_free(buffer);
}
throw mjCError(this, "MSH file '%s' is empty", filename.c_str());
mju_closeResource(r);
throw mjCError(this, "STL file '%s' is empty", filename.c_str());
}
// make sure header is present
if (buffer_sz<4*sizeof(int)) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "missing header in MSH file '%s'", filename.c_str());
}
@@ -860,18 +825,14 @@ void mjCMesh::LoadMSH(const mjVFS* vfs) {
if (nvert<4 || nface<0 || nnormal<0 || ntexcoord<0 ||
(nnormal>0 && nnormal!=nvert) ||
(ntexcoord>0 && ntexcoord!=nvert)) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "invalid sizes in MSH file '%s'", filename.c_str());
}
// check file size
if (buffer_sz != 4*sizeof(int) + 3*nvert*sizeof(float) + 3*nnormal*sizeof(float) +
2*ntexcoord*sizeof(float) + 3*nface*sizeof(int)) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "unexpected file size in MSH file '%s'", filename.c_str());
}
@@ -912,10 +873,7 @@ void mjCMesh::LoadMSH(const mjVFS* vfs) {
}
}
// free buffer if allocated here
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
}
@@ -1602,7 +1560,7 @@ mjCSkin::~mjCSkin() {
// compiler
void mjCSkin::Compile(const mjVFS* vfs) {
void mjCSkin::Compile(int default_provider) {
// load file
if (!file.empty()) {
@@ -1627,7 +1585,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// load SKN
string ext = mjuu_getext(file);
if (!strcasecmp(ext.c_str(), ".skn")) {
LoadSKN(vfs);
LoadSKN(default_provider);
} else {
throw mjCError(this, "Unknown skin file type: %s", file.c_str());
}
@@ -1749,43 +1707,32 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// load skin in SKN BIN format
void mjCSkin::LoadSKN(const mjVFS* vfs) {
void mjCSkin::LoadSKN(int default_provider) {
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
// get file data in buffer
char* buffer = NULL;
int buffer_sz = 0;
bool own_buffer = false;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
buffer = (char*)vfs->filedata[id];
buffer_sz = vfs->filesize[id];
}
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open SKN file '%s'", filename.c_str());
}
}
// if not found in vfs, read from file
if (!buffer) {
buffer = (char*) mju_fileToMemory(filename.c_str(), &buffer_sz);
own_buffer = true;
}
char* buffer = 0;
int buffer_sz = mju_readResource(r, (const void**) &buffer);
// still not found
if (!buffer) {
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not open SKN file '%s'", filename.c_str());
} else if (!buffer_sz) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "SKN file '%s' is empty", filename.c_str());
}
// make sure header is present
if (buffer_sz<16) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "missing header in SKN file '%s'", filename.c_str());
}
@@ -1797,17 +1744,13 @@ void mjCSkin::LoadSKN(const mjVFS* vfs) {
// negative sizes not allowed
if (nvert<0 || ntexcoord<0 || nface<0 || nbone<0) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "negative size in header of SKN file '%s'", filename.c_str());
}
// make sure we have data for vert, texcoord, face
if (buffer_sz < 16 + 12*nvert + 8*ntexcoord + 12*nface) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "insufficient data in SKN file '%s'", filename.c_str());
}
@@ -1847,9 +1790,7 @@ void mjCSkin::LoadSKN(const mjVFS* vfs) {
for (int i=0; i<nbone; i++) {
// check size
if (buffer_sz/4-4-cnt < 18) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "insufficient data in SKN file '%s', bone %d", filename.c_str(), i);
}
@@ -1874,18 +1815,14 @@ void mjCSkin::LoadSKN(const mjVFS* vfs) {
// check for negative
if (vcount<1) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "vertex count must be positive in SKN file '%s', bone %d",
filename.c_str(), i);
}
// check size
if (buffer_sz/4-4-cnt < 2*vcount) {
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
throw mjCError(this, "insufficient vertex data in SKN file '%s', bone %d",
filename.c_str(), i);
}
@@ -1901,10 +1838,7 @@ void mjCSkin::LoadSKN(const mjVFS* vfs) {
cnt += vcount;
}
// free buffer if allocated here
if (own_buffer) {
mju_free(buffer);
}
mju_closeResource(r);
// check final size
if (buffer_sz != 16+4*cnt) {