Yuval Tassa
67a1ea6dca
PiperOrigin-RevId: 931585539 Change-Id: Ifdc8c59de6c5a553daf6e0af09d8192aff6b0610
109 lines
5.2 KiB
C++
109 lines
5.2 KiB
C++
// Copyright 2021 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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#ifndef MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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#define MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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#include <sstream>
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#include <string>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <mujoco/mjspec.h>
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#include "user/user_util.h"
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#include "xml/xml_base.h"
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#include "xml/xml_util.h"
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#include "tinyxml2.h"
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class mjXReader : public mjXBase {
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public:
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mjXReader(); // constructor
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virtual ~mjXReader() = default; // destructor
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void Parse(tinyxml2::XMLElement* root, const mjVFS* vfs = nullptr); // parse XML document
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void PrintSchema(std::stringstream& str, bool html, bool pad); // print text or HTML schema
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void SetModelFileDir(const std::string& modelfiledir);
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const mujoco::user::FilePath& ModelFileDir() const { return modelfiledir_; }
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// setters for directory defaults
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void SetAssetDir(const std::string& assetdir);
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void SetMeshDir(const std::string& meshdir);
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void SetTextureDir(const std::string& texturedir);
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// XML sections embedded in all formats
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static void Compiler(tinyxml2::XMLElement* section, mjSpec* s); // compiler section
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static void Option(tinyxml2::XMLElement* section, mjSpec* s, mjOption* opt); // option section
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static void Size(tinyxml2::XMLElement* section, mjSpec* s); // size section
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private:
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// XML section specific to MJCF
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void Default(tinyxml2::XMLElement* section, const mjsDefault* def,
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const mjVFS* vfs); // default section
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void Extension(tinyxml2::XMLElement* section); // extension section
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void Custom(tinyxml2::XMLElement* section); // custom section
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void Visual(tinyxml2::XMLElement* section); // visual section
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void Statistic(tinyxml2::XMLElement* section); // statistic section
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void Asset(tinyxml2::XMLElement* section, const mjVFS* vfs); // asset section
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void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
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mjsFrame* pframe, const mjVFS* vfs); // body/world section
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void Contact(tinyxml2::XMLElement* section); // contact section
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void Deformable(tinyxml2::XMLElement* section, const mjVFS* vfs); // deformable section
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void Equality(tinyxml2::XMLElement* section); // equality section
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void Tendon(tinyxml2::XMLElement* section); // tendon section
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void Actuator(tinyxml2::XMLElement* section); // actuator section
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void Sensor(tinyxml2::XMLElement* section); // sensor section
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void Keyframe(tinyxml2::XMLElement* section); // keyframe section
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// single element parsers, used in defaults and main body
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void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
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void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh, const mjVFS* vfs);
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void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin, const mjVFS* vfs);
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void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
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void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
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void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
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void OneSite(tinyxml2::XMLElement* elem, mjsSite* site);
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void OneCamera(tinyxml2::XMLElement* elem, mjsCamera* pcamera);
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void OneLight(tinyxml2::XMLElement* elem, mjsLight* plight);
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void OnePair(tinyxml2::XMLElement* elem, mjsPair* ppair);
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void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
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void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
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void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
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void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsFrame* pframe,
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const mjsDefault* def);
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void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody, const mjVFS* vfs);
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void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
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mjXSchema schema; // schema used for validation
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const mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
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bool readingdefaults; // true while reading defaults
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// accessors for directory defaults
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mujoco::user::FilePath AssetDir() const;
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mujoco::user::FilePath MeshDir() const;
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mujoco::user::FilePath TextureDir() const;
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mujoco::user::FilePath modelfiledir_;
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mujoco::user::FilePath assetdir_;
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mujoco::user::FilePath meshdir_;
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mujoco::user::FilePath texturedir_;
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};
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// MJCF schema
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#define nMJCF 248
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extern std::vector<const char*> MJCF[nMJCF];
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#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
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