This enables decoders to leverage their own file resolution systems. For example: USD can compose a stage (scene) from memory, via a file on disk, or via custom asset resolver.
Passing it through to the decoder reduces the need for custom resource providers that wrap these other resolution systems.
This will also enable a fun, but likely niche usecase where the decoder does procedural generation and does not have to be backed by a resource. See the tests for an example of this.
PiperOrigin-RevId: 828939899
Change-Id: Ic319a685332d91198a4ae926867c834bf7f7f724
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes#2881.
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This will allow assets to cache compiled results with different parameters. For example, we could cache both an RGB version of a texture and a Mono version.
PiperOrigin-RevId: 811341377
Change-Id: Ifd6a4ff88661a2b38be47c02d6a666de2c202885
For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes#2834.
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.
PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
The octree construction is now performed using a breadth-first search with a `std::deque` to manage tasks. A new `OctreeTask` struct encapsulates the state for each node to be processed, and a helper function `Subdivide` is introduced for subdividing the Octree nodes.
Also reduce the number of (center, size) to (min, max) conversion for the bounding box representation in order to avoid duplicated vertices in the Octree due to floating point errors.
PiperOrigin-RevId: 806214441
Change-Id: Iff9015ebe4705522db743c478cef5acf1a7312b7
Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
Yuval Tassa