chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+82 -108
View File
@@ -29,7 +29,7 @@
#include "cc/array_safety.h"
#include "engine/engine_core_smooth.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_file.h"
#include "engine/engine_resource.h"
#include "engine/engine_io.h"
#include "engine/engine_macro.h"
#include "engine/engine_passive.h"
@@ -38,7 +38,6 @@
#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"
@@ -1979,33 +1978,27 @@ mjCHField::~mjCHField() {
// load elevation data from custom format
void mjCHField::LoadCustom(string filename, const mjVFS* vfs) {
void mjCHField::LoadCustom(string filename, int default_provider) {
// get file data in buffer
void* buffer = 0;
int buffer_sz = 0, flag_existing = 0;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
buffer = vfs->filedata[id];
buffer_sz = vfs->filesize[id];
flag_existing = 1;
const void* buffer = 0;
mjResource* resource = nullptr;
if((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// default to OS filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open hfield file '%s'", filename.c_str());
}
}
// if not found in vfs, read from file
if (!buffer) {
buffer = mju_fileToMemory(filename.c_str(), &buffer_sz);
}
int buffer_sz = mju_readResource(resource, &buffer);
// still not found
if (!buffer || !buffer_sz) {
if (!buffer || buffer_sz < 1) {
throw mjCError(this, "could not open hfield file '%s'", filename.c_str());
}
if (buffer_sz < 2*sizeof(int)) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "hfield missing header '%s'", filename.c_str());
}
@@ -2016,76 +2009,69 @@ void mjCHField::LoadCustom(string filename, const mjVFS* vfs) {
// check dimensions
if (nrow<1 || ncol<1) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "non-positive hfield dimensions in file '%s'", filename.c_str());
}
// check buffer size
if (buffer_sz != nrow*ncol*sizeof(float)+8) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "unexpected file size in file '%s'", filename.c_str());
}
// allocate
data = (float*) mju_malloc(nrow*ncol*sizeof(float));
if (!data) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "could not allocate buffers in hfield");
}
// copy data
memcpy(data, (void*)(pint+2), nrow*ncol*sizeof(float));
// free buffer if allocated here
if (!flag_existing) {
mju_free(buffer);
}
// close file
mju_closeResource(resource);
}
// load elevation data from PNG format
void mjCHField::LoadPNG(string filename, const mjVFS* vfs) {
void mjCHField::LoadPNG(string filename, int default_provider) {
// determine data source
const unsigned char* inbuffer = 0;
size_t inbuffer_sz = 0;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
inbuffer = (const unsigned char*)vfs->filedata[id];
inbuffer_sz = (size_t)vfs->filesize[id];
}
const void* inbuffer = 0;
mjResource* resource = nullptr;
if((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
throw mjCError(this, "could not open PNG file '%s'", filename.c_str());
}
int inbuffer_sz = mju_readResource(resource, &inbuffer);
// still not found
if (!inbuffer || inbuffer_sz < 1) {
mju_closeResource(resource);
throw mjCError(this, "could not open PNG file '%s'", filename.c_str());
}
// load PNG from file or memory
unsigned int w, h, err;
std::vector<unsigned char> image;
if (inbuffer_sz) {
err = lodepng::decode(image, w, h, inbuffer, inbuffer_sz, LCT_GREY, 8);
} else {
err = lodepng::decode(image, w, h, filename, LCT_GREY, 8);
}
err = lodepng::decode(image, w, h, (const unsigned char*) inbuffer, inbuffer_sz, LCT_GREY, 8);
// check
if (err) {
mju_closeResource(resource);
throw mjCError(this, "PNG load error '%s' in hfield id = %d", lodepng_error_text(err), id);
}
if (!w || !h) {
mju_closeResource(resource);
throw mjCError(this, "Zero dimension in PNG hfield '%s' (id = %d)", name.c_str(), id);
}
// allocate
data = (float*) mju_malloc(w*h*sizeof(float));
if (!data) {
mju_closeResource(resource);
throw mjCError(this, "could not allocate buffers in hfield");
}
@@ -2097,12 +2083,13 @@ void mjCHField::LoadPNG(string filename, const mjVFS* vfs) {
data[c+(nrow-1-r)*ncol] = (float)image[c+r*ncol];
}
image.clear();
mju_closeResource(resource);
}
// compiler
void mjCHField::Compile(const mjVFS* vfs) {
void mjCHField::Compile(int default_provider) {
// check size parameters
for (int i=0; i<4; i++)
if (size[i]<=0)
@@ -2128,9 +2115,9 @@ void mjCHField::Compile(const mjVFS* vfs) {
// load depending on format
string ext = mjuu_getext(filename);
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(filename, vfs);
LoadPNG(filename, default_provider);
} else {
LoadCustom(filename, vfs);
LoadCustom(filename, default_provider);
}
}
@@ -2441,27 +2428,27 @@ void mjCTexture::BuiltinCube(void) {
// load PNG file
void mjCTexture::LoadPNG(string filename, const mjVFS* vfs,
void mjCTexture::LoadPNG(string filename, int default_provider,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
// determine data source
const unsigned char* inbuffer = 0;
size_t inbuffer_sz = 0;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
inbuffer = (const unsigned char*)vfs->filedata[id];
inbuffer_sz = (size_t)vfs->filesize[id];
}
const void* inbuffer = 0;
mjResource* resource = nullptr;
if((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
throw mjCError(this, "could not open PNG file '%s'", filename.c_str());
}
int inbuffer_sz = mju_readResource(resource, &inbuffer);
// still not found
if (!inbuffer || inbuffer_sz < 1) {
mju_closeResource(resource);
throw mjCError(this, "could not open PNG file '%s'", filename.c_str());
}
// load PNG from file or memory
unsigned int err;
if (inbuffer_sz) {
err = lodepng::decode(image, w, h, inbuffer, inbuffer_sz, LCT_RGB, 8);
} else {
err = lodepng::decode(image, w, h, filename, LCT_RGB, 8);
}
unsigned int err = lodepng::decode(image, w, h, (const unsigned char*) inbuffer, inbuffer_sz, LCT_RGB, 8);
mju_closeResource(resource);
// check
if (err) {
@@ -2476,28 +2463,24 @@ void mjCTexture::LoadPNG(string filename, const mjVFS* vfs,
// load custom file
void mjCTexture::LoadCustom(string filename, const mjVFS* vfs,
void mjCTexture::LoadCustom(string filename, int default_provider,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
// get file data in buffer
void* buffer = 0;
int buffer_sz = 0, flag_existing = 0;
if (vfs) {
int id = mj_findFileVFS(vfs, filename.c_str());
if (id>=0) {
buffer = vfs->filedata[id];
buffer_sz = vfs->filesize[id];
flag_existing = 1;
const void* buffer = 0;
mjResource* resource = nullptr;
if((resource = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// default to OS filesystem
if (!default_provider || (resource = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open texture file '%s'", filename.c_str());
}
}
// if not found in vfs, read from file
if (!buffer) {
buffer = mju_fileToMemory(filename.c_str(), &buffer_sz);
}
int buffer_sz = mju_readResource(resource, &buffer);
// still not found
if (!buffer || !buffer_sz) {
if (!buffer || buffer_sz < 0) {
mju_closeResource(resource);
throw mjCError(this, "could not open texture file '%s'", filename.c_str());
}
@@ -2508,20 +2491,14 @@ void mjCTexture::LoadCustom(string filename, const mjVFS* vfs,
// check dimensions
if (w<1 || h<1) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"non-positive texture dimensions in file '%s'", filename.c_str());
}
// check buffer size
if (buffer_sz != 2*sizeof(int) + w*h*3*sizeof(char)) {
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"unexpected file size in file '%s'", filename.c_str());
}
@@ -2530,24 +2507,21 @@ void mjCTexture::LoadCustom(string filename, const mjVFS* vfs,
image.resize(w*h*3);
memcpy(image.data(), (void*)(pint+2), w*h*3*sizeof(char));
// free buffer if allocated here
if (!flag_existing) {
mju_free(buffer);
}
mju_closeResource(resource);
}
// load from PNG or custom file, flip if specified
void mjCTexture::LoadFlip(string filename, const mjVFS* vfs,
void mjCTexture::LoadFlip(string filename, int default_provider,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
// dispatch to PNG or Custom loaded
string ext = mjuu_getext(filename);
if (!strcasecmp(ext.c_str(), ".png")) {
LoadPNG(filename, vfs, image, w, h);
LoadPNG(filename, default_provider, image, w, h);
} else {
LoadCustom(filename, vfs, image, w, h);
LoadCustom(filename, default_provider, image, w, h);
}
// horizontal flip
@@ -2598,11 +2572,11 @@ void mjCTexture::LoadFlip(string filename, const mjVFS* vfs,
// load 2D
void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
void mjCTexture::Load2D(string filename, int default_provider) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename, default_provider, image, w, h);
// assign size
width = w;
@@ -2621,7 +2595,7 @@ void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
// load cube or skybox from single file (repeated or grid)
void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
void mjCTexture::LoadCubeSingle(string filename, int default_provider) {
// check gridsize
if (gridsize[0]<1 || gridsize[1]<1 || gridsize[0]*gridsize[1]>12) {
throw mjCError(this,
@@ -2632,7 +2606,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename, default_provider, image, w, h);
// check gridsize for compatibility
if (w/gridsize[1]!=h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
@@ -2721,7 +2695,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
// load cube or skybox from separate file
void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
void mjCTexture::LoadCubeSeparate(int default_provider) {
// keep track of which faces were defined
int loaded[6] = {0, 0, 0, 0, 0, 0};
@@ -2739,7 +2713,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// load PNG or custom
unsigned int w, h;
std::vector<unsigned char> image;
LoadFlip(filename, vfs, image, w, h);
LoadFlip(filename, default_provider, image, w, h);
// PNG must be square
if (w!=h) {
@@ -2793,7 +2767,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// compiler
void mjCTexture::Compile(const mjVFS* vfs) {
void mjCTexture::Compile(int default_provider) {
// builtin
if (builtin!=mjBUILTIN_NONE) {
// check size
@@ -2836,9 +2810,9 @@ void mjCTexture::Compile(const mjVFS* vfs) {
// dispatch
if (type==mjTEXTURE_2D) {
Load2D(filename, vfs);
Load2D(filename, default_provider);
} else {
LoadCubeSingle(filename, vfs);
LoadCubeSingle(filename, default_provider);
}
}
@@ -2866,7 +2840,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// only cube and skybox
LoadCubeSeparate(vfs);
LoadCubeSeparate(default_provider);
}
// make sure someone allocated data; SHOULD NOT OCCUR