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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.h
+24 -23
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@@ -62,32 +62,32 @@ class mjCModel {
friend class mjXWriter;
public:
mjCModel(); // constructor
~mjCModel(); // destructor
mjCModel(); // constructor
~mjCModel(); // destructor
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
mjModel* Compile(int default_provider = 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
//------------------------ API for adding model elements
mjCMesh* AddMesh(mjCDef* def = 0); // mesh
mjCSkin* AddSkin(void); // skin
mjCHField* AddHField(void); // heightfield
mjCTexture* AddTexture(void); // texture
mjCMaterial*AddMaterial(mjCDef* def = 0); // material
mjCPair* AddPair(mjCDef* def = 0); // geom pair for inclusion
mjCBodyPair*AddExclude(void); // body pair for exclusion
mjCEquality*AddEquality(mjCDef* def = 0); // equality constraint
mjCTendon* AddTendon(mjCDef* def = 0); // tendon
mjCActuator*AddActuator(mjCDef* def = 0); // actuator
mjCSensor* AddSensor(void); // sensor
mjCNumeric* AddNumeric(void); // custom numeric
mjCText* AddText(void); // custom text
mjCTuple* AddTuple(void); // custom tuple
mjCKey* AddKey(void); // keyframe
mjCPlugin* AddPlugin(void); // plugin instance
mjCMesh* AddMesh(mjCDef* def = 0); // mesh
mjCSkin* AddSkin(void); // skin
mjCHField* AddHField(void); // heightfield
mjCTexture* AddTexture(void); // texture
mjCMaterial* AddMaterial(mjCDef* def = 0); // material
mjCPair* AddPair(mjCDef* def = 0); // geom pair for inclusion
mjCBodyPair* AddExclude(void); // body pair for exclusion
mjCEquality* AddEquality(mjCDef* def = 0); // equality constraint
mjCTendon* AddTendon(mjCDef* def = 0); // tendon
mjCActuator* AddActuator(mjCDef* def = 0); // actuator
mjCSensor* AddSensor(void); // sensor
mjCNumeric* AddNumeric(void); // custom numeric
mjCText* AddText(void); // custom text
mjCTuple* AddTuple(void); // custom tuple
mjCKey* AddKey(void); // keyframe
mjCPlugin* AddPlugin(void); // plugin instance
//------------------------ API for access to model elements (outside tree)
int NumObjects(mjtObj type); // number of objects in specified list
@@ -163,7 +163,8 @@ class mjCModel {
int nuser_sensor; // number of mjtNums in sensor_user
private:
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
void TryCompile(mjModel*& m, mjData*& d, int default_provider);
mjModel* _Compile(int default_provider);
void Clear(void); // clear objects allocated by Compile