File size: 2,860 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | // Copyright 2019 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.
using System;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;
using UnityEngine;
namespace Mujoco {
using static MujocoLib;
// A wrapper around Mujoco's native _mjVFS that simplifies the process of creating memory files.
public sealed class MjVfs : IDisposable {
private _mjVFS _managedVfs;
private IntPtr _unmanagedVfs;
// Managed version of the underlying _mjVFS structure.
public _mjVFS Data {
get {
_managedVfs = (_mjVFS)Marshal.PtrToStructure(_unmanagedVfs, typeof(_mjVFS));
return _managedVfs;
}
set {
_managedVfs = value;
Marshal.StructureToPtr(_managedVfs, _unmanagedVfs, fDeleteOld: false);
}
}
// Adds a new file to the virtual filesystem.
public unsafe void AddFile(string filename, string contents) {
var contents_bytes = Encoding.UTF8.GetBytes(contents);
fixed (byte* bytes = contents_bytes)
{
IntPtr ptr = (IntPtr) bytes;
var result = mj_addBufferVFS(_unmanagedVfs.ToPointer(), filename, ptr.ToPointer(),
contents_bytes.Length);
if (result != 0) {
throw new Exception("VFS error (" + result + ") encountered while creating an empty file");
}
}
}
// Loads a model from the specified file.
public unsafe MujocoLib.mjModel_* LoadXML(string filename) {
var errorBuf = new StringBuilder(1024);
MujocoLib.mjModel_* model = MujocoLib.mj_loadXML(
filename, _unmanagedVfs.ToPointer(), errorBuf, errorBuf.Capacity);
if (model == null || errorBuf.Length > 0) {
throw new IOException($"Error loading the model: {errorBuf}");
}
return model;
}
public unsafe MjVfs() {
_unmanagedVfs = Marshal.AllocHGlobal(Marshal.SizeOf(_managedVfs));
mj_defaultVFS(_unmanagedVfs.ToPointer());
_managedVfs = (_mjVFS)Marshal.PtrToStructure(_unmanagedVfs, typeof(_mjVFS));
}
~MjVfs() {
ReleaseUnmanagedMemory();
}
public void Dispose() {
GC.SuppressFinalize(this);
ReleaseUnmanagedMemory();
}
private unsafe void ReleaseUnmanagedMemory() {
if (_unmanagedVfs != IntPtr.Zero) {
mj_deleteVFS(_unmanagedVfs.ToPointer());
Marshal.FreeHGlobal(_unmanagedVfs);
_unmanagedVfs = IntPtr.Zero;
}
}
}
}
|