* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
At present, if a VFS is used but an OBJ or PNG asset doesn't exist in the VFS, the model compilation will fail without trying to first locate the asset on disk.
This breaks the Python bindings `MjModel.from_xml_string` almost entirely when OBJ assets are involved.
Also modify error messages to disambiguate between different modes of asset loading failures.
PiperOrigin-RevId: 526637686
Change-Id: Iba02cc94989083bc2835a3e67dfc78c0a21047e9
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
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
The memory handling in the asset loading logic in user_mesh.cc is currently flipped: it frees the asset content buffer when reading from VFS but not from the filesystem. This causes the VFS object to leave these functions in an invalid state, while leaking locally allocated buffers that hold contents read from the filesystem.
PiperOrigin-RevId: 466643390
Change-Id: I162221e019861f23fb61308facd63dbb0422e113
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.
PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
Inertias of moving bodies are enforced to be greater mjMINVAL at model compilation, there is no need to enforce inertias at mesh load time. Tiny meshes could be static or part of a larger geom assembly, in which case their tiny inertia is not a problem.
Also, make error message for small masses/inertias more precise.
PiperOrigin-RevId: 451625216
Change-Id: I4b48d7a881e620d6fbb591ec77fbdacc7c03496c
Alessio Quaglino