Function LoadModel

TextOpDeploy/src/unitree_mujoco/simulate/src/main.cc:235–291

//------------------------------------------- simulation -------------------------------------------

mjModel *LoadModel(const char *file, mj::Simulate &sim)
{
    // this copy is needed so that the mju::strlen call below compiles
    char filename[mj::Simulate::kMaxFilenameLength];
    mju::strcpy_arr(filename, file);

    // make sure filename is not empty
    if (!filename[0])
    {
        return nullptr;
    }

    // load and compile
    char loadError[kErrorLength] = "";
    mjModel *mnew = 0;
    if (mju::strlen_arr(filename) > 4 &&
        !std::strncmp(filename + mju::strlen_arr(filename) - 4, ".mjb",
                      mju::sizeof_arr(filename) - mju::strlen_arr(filename) + 4))
    {
        mnew = mj_loadModel(filename, nullptr);
        if (!mnew)
        {
            mju::strcpy_arr(loadError, "could not load binary model");
        }
    }
    else
    {
        mnew = mj_loadXML(filename, nullptr, loadError, kErrorLength);
        // remove trailing newline character from loadError
        if (loadError[0])
        {
            int error_length = mju::strlen_arr(loadError);
            if (loadError[error_length - 1] == '\n')
            {
                loadError[error_length - 1] = '\0';
            }
        }
    }

    mju::strcpy_arr(sim.load_error, loadError);

    if (!mnew)
    {
        std::printf("%s\n", loadError);
        return nullptr;
    }

    // compiler warning: print and pause
    if (loadError[0])
    {
        // mj_forward() below will print the warning message
        std::printf("Model compiled, but simulation warning (paused):\n  %s\n", loadError);
        sim.run = 0;
    }

    return mnew;
}