Function LoadModelFromString

test/fixture.cc:160–201

}

MjModelPtr LoadModelFromString(std::string_view xml, char* error,
                             int error_size, mjVFS* vfs) {
  if (error) {
    error[0] = '\0';
  }

  // This duplicates the logic in mj_loadXML, but allows us to use a string
  // directly rather than having to write the contents to a file. Most
  // importantly, we "save" the spec to global storage so that subsequent calls
  // to mj_saveLastXML will be done using the parsed mjSpec.
  mjSpec* spec = mj_parseXMLString(xml.data(), vfs, error, error_size);

  mjModel* model = nullptr;
  if (spec) {
    model = mj_compile(spec, vfs);

    if (error) {
      if (!model) {
        strncpy(error, mjs_getError(spec), error_size);
        error[error_size - 1] = '\0';
      } else {
        int num_warnings = mjs_numWarnings(spec);
        if (num_warnings > 0) {
          std::string all_warnings;
          for (int i = 0; i < num_warnings; ++i) {
            if (!all_warnings.empty()) {
              all_warnings += '\n';
            }
            all_warnings += mjs_getWarning(spec, i);
          }
          strncpy(error, all_warnings.c_str(), error_size);
          error[error_size - 1] = '\0';
        } else {
          error[0] = '\0';
        }
      }
    }
  }

  SetGlobalXmlSpec(spec);
  return MjModelPtr(model);
}

MjDataPtr MakeData(const MjModelPtr& model) {
  return MjDataPtr(mj_makeData(model.get()));