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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_model.cc
+8 -7
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@@ -32,6 +32,7 @@
#include "engine/engine_macro.h"
#include "engine/engine_plugin.h"
#include "engine/engine_setconst.h"
#include "engine/engine_resource.h"
#include "engine/engine_support.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
@@ -2392,7 +2393,7 @@ static void warninghandler(const char* msg) {
// compiler
mjModel* mjCModel::Compile(const mjVFS* vfs) {
mjModel* mjCModel::Compile(int default_provider) {
// 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
@@ -2423,7 +2424,7 @@ mjModel* mjCModel::Compile(const mjVFS* vfs) {
// 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);
TryCompile(*const_cast<mjModel**>(&m), *const_cast<mjData**>(&data), default_provider);
} catch (mjCError err) {
// deallocate everything allocated in Compile
mj_deleteModel(m);
@@ -2449,7 +2450,7 @@ mjModel* mjCModel::Compile(const mjVFS* vfs) {
}
void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
void mjCModel::TryCompile(mjModel*& m, mjData*& d, int default_provider) {
// check if nan test works
double test = mjNAN;
if (mjuu_defined(test)) {
@@ -2526,7 +2527,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// compile meshes (needed for geom compilation)
for (int i=0; i<meshes.size(); i++) {
meshes[i]->Compile(vfs);
meshes[i]->Compile(default_provider);
}
// automatically set nuser fields
@@ -2585,9 +2586,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
}
// compile all other objects except for keyframes
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<skins.size(); i++) skins[i]->Compile(default_provider);
for (int i=0; i<hfields.size(); i++) hfields[i]->Compile(default_provider);
for (int i=0; i<textures.size(); i++) textures[i]->Compile(default_provider);
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();