Sam Haves
57f7145806
- 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
58 lines
2.2 KiB
C
58 lines
2.2 KiB
C
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// IWYU pragma: private, include "third_party/mujoco/include/mujoco.h"
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// IWYU pragma: friend "third_party/mujoco/src/.*"
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
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#include <cstddef>
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#include <mujoco/mjexport.h>
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#include <mujoco/mujoco.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// open the given resource; if the name doesn't have a prefix matching with a
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// resource provider, then the OS filesystem is used
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MJAPI mjResource* mju_openResource(const char* dir, const char* name,
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const mjVFS* vfs, char* error, size_t nerror);
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// close the given resource; no-op if resource is NULL
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MJAPI void mju_closeResource(mjResource* resource);
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// set buffer to bytes read from the resource and return number of bytes in buffer;
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// return negative value if error
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MJAPI int mju_readResource(mjResource* resource, const void** buffer);
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// set for a resource with a name partitioned as {dir}{filename}, the dir and ndir pointers
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MJAPI void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir);
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// return 0 if the resource's timestamp matches the provided timestamp
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// return > 0 if the resource is younger than the given timestamp
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// return < 0 if the resource is older than the given timestamp
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MJAPI int mju_isModifiedResource(const mjResource* resource, const char* timestamp);
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// given a resource, find its decoder and return the decoded spec
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// the caller takes ownership of the spec and is responsible for cleaning it up
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MJAPI mjSpec* mju_decodeResource(mjResource* resource, const char* content_type);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_RESOURCE_H_
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