Tom Erez
33e5960653
PiperOrigin-RevId: 654795013 Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
106 lines
4.9 KiB
C++
106 lines
4.9 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_SRC_XML_XML_NATIVE_READER_H_
|
|
#define MUJOCO_SRC_XML_XML_NATIVE_READER_H_
|
|
|
|
#include <sstream>
|
|
#include <string>
|
|
|
|
#include "tinyxml2.h"
|
|
|
|
#include <mujoco/mujoco.h>
|
|
#include <mujoco/mjspec.h>
|
|
#include "xml/xml_base.h"
|
|
#include "xml/xml_util.h"
|
|
|
|
class mjXReader : public mjXBase {
|
|
public:
|
|
mjXReader(); // constructor
|
|
virtual ~mjXReader() = default; // destructor
|
|
|
|
void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // parse XML document
|
|
void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
|
|
|
|
void SetModelFileDir(std::string modelfiledir);
|
|
const std::string& ModelFileDir() const { return modelfiledir_; }
|
|
|
|
// setters for directory defaults
|
|
void SetAssetDir(std::string assetdir);
|
|
void SetMeshDir(std::string meshdir);
|
|
void SetTextureDir(std::string texturedir);
|
|
|
|
// XML sections embedded in all formats
|
|
static void Compiler(tinyxml2::XMLElement* section, mjSpec* spec); // compiler section
|
|
static void Option(tinyxml2::XMLElement* section, mjOption* opt); // option section
|
|
static void Size(tinyxml2::XMLElement* section, mjSpec* spec); // size section
|
|
|
|
private:
|
|
// XML section specific to MJCF
|
|
void Default(tinyxml2::XMLElement* section, const mjsDefault* def); // default section
|
|
void Extension(tinyxml2::XMLElement* section); // extension section
|
|
void Custom(tinyxml2::XMLElement* section); // custom section
|
|
void Visual(tinyxml2::XMLElement* section); // visual section
|
|
void Statistic(tinyxml2::XMLElement* section); // statistic section
|
|
void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs); // asset section
|
|
void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
|
|
mjsFrame* pframe); // body/world section
|
|
void Contact(tinyxml2::XMLElement* section); // contact section
|
|
void Deformable(tinyxml2::XMLElement* section); // deformable section
|
|
void Equality(tinyxml2::XMLElement* section); // equality section
|
|
void Tendon(tinyxml2::XMLElement* section); // tendon section
|
|
void Actuator(tinyxml2::XMLElement* section); // actuator section
|
|
void Sensor(tinyxml2::XMLElement* section); // sensor section
|
|
void Keyframe(tinyxml2::XMLElement* section); // keyframe section
|
|
|
|
// single element parsers, used in defaults and main body
|
|
void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
|
|
void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh);
|
|
void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin);
|
|
void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
|
|
void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
|
|
void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
|
|
void OneSite(tinyxml2::XMLElement* elem, mjsSite* site);
|
|
void OneCamera(tinyxml2::XMLElement* elem, mjsCamera* pcamera);
|
|
void OneLight(tinyxml2::XMLElement* elem, mjsLight* plight);
|
|
void OnePair(tinyxml2::XMLElement* elem, mjsPair* ppair);
|
|
void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
|
|
void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
|
|
void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
|
|
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsDefault* def);
|
|
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody);
|
|
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
|
|
|
|
mjXSchema schema; // schema used for validation
|
|
mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
|
|
|
|
bool readingdefaults; // true while reading defaults
|
|
|
|
// accessors for directory defaults
|
|
std::string AssetDir() const;
|
|
std::string MeshDir() const;
|
|
std::string TextureDir() const;
|
|
|
|
std::string modelfiledir_;
|
|
std::string assetdir_;
|
|
std::string meshdir_;
|
|
std::string texturedir_;
|
|
};
|
|
|
|
// MJCF schema
|
|
#define nMJCF 243
|
|
extern const char* MJCF[nMJCF][mjXATTRNUM];
|
|
|
|
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
|