3 Commits

Author	SHA1	Message	Date
Sam Haves	dc7581acfa	Add pluggable resource writing to MuJoCo ... Extend mjpResourceProvider with an optional write callback (write) so that mj_encode, mj_saveXML, and mj_saveModel can write to any registered provider. PiperOrigin-RevId: 945202741 Change-Id: I37903425260932e555f4a8c2392c4ff8c2e6cc06	2026-07-09 10:47:48 -07:00
Sam Haves	d83ef0b6b9	Change mj_encode return type to 64-bit (mjtSize) ... This supports encoding files larger than 2GB. PiperOrigin-RevId: 939828697 Change-Id: If60d36c61475ced20b4eb58408ffb37e25bf3db7	2026-06-29 07:41:52 -07:00
Sam Haves	f5d3ce3451	Introduce mjpEncoder plugin architecture ... Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern. Encoders serialize an mjSpec + mjModel to an mjResource for a given format. New API functions: - mjp_registerEncoder: globally register an encoder - mjp_defaultEncoder: zero-initialize an encoder struct - mjp_findEncoder: look up an encoder by filename extension or content type The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and returns 0 on success. Writing to mjResource keeps symmetry with the decoder reading from mjResource and leaves the door open for writable resource providers. PiperOrigin-RevId: 889187898 Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364	2026-03-25 05:35:39 -07:00