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Simulate: fix reload button causing segfault, make interface changes needed for Python bindings

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This commit is contained in:
Levi Burner
2022-05-17 09:37:52 -04:00
parent 447877abef
commit 033ca81db6
4 changed files with 76 additions and 21 deletions
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simulate/main.cc
+44 -17
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@@ -102,15 +102,37 @@ void SimulateLoop(mj::Simulate& simulate) {
if (simulate.droploadrequest) {
mjModel* mnew = LoadModel(simulate.dropfilename, simulate);
simulate.droploadrequest = 0;
if (mnew) {
mjData* dnew = mj_makeData(mnew);
simulate.load(simulate.dropfilename, mnew, dnew, true);
simulate.droploadrequest = 0;
m = mnew;
d = dnew;
mj_forward(m, d);
// allocate ctrlnoise
free(ctrlnoise);
ctrlnoise = (mjtNum*) malloc(sizeof(mjtNum)*m->nu);
mju_zero(ctrlnoise, m->nu);
}
}
if (simulate.uiloadrequest) {
mjModel* mnew = LoadModel(simulate.filename, simulate);
simulate.uiloadrequest = 0;
if (mnew) {
mjData* dnew = mj_makeData(mnew);
simulate.load(simulate.filename, mnew, dnew, true);
m = mnew;
d = dnew;
mj_forward(m, d);
// allocate ctrlnoise
free(ctrlnoise);
ctrlnoise = (mjtNum*) malloc(sizeof(mjtNum)*m->nu);
mju_zero(ctrlnoise, m->nu);
}
}
@@ -157,8 +179,8 @@ void SimulateLoop(mj::Simulate& simulate) {
// clear old perturbations, apply new
mju_zero(d->xfrc_applied, 6*m->nbody);
mjv_applyPerturbPose(m, d, &simulate.pert, 0); // move mocap bodies only
mjv_applyPerturbForce(m, d, &simulate.pert);
simulate.applyposepertubations(0); // move mocap bodies only
simulate.applyforceperturbations();
// run single step, let next iteration deal with timing
mj_step(m, d);
@@ -171,8 +193,8 @@ void SimulateLoop(mj::Simulate& simulate) {
(glfwGetTime()-tmstart) < refreshfactor/simulate.vmode.refreshRate) {
// clear old perturbations, apply new
mju_zero(d->xfrc_applied, 6*m->nbody);
mjv_applyPerturbPose(m, d, &simulate.pert, 0); // move mocap bodies only
mjv_applyPerturbForce(m, d, &simulate.pert);
simulate.applyposepertubations(0); // move mocap bodies only
simulate.applyforceperturbations();
// run mj_step
mjtNum prevtm = d->time*simulate.slow_down;
@@ -189,7 +211,7 @@ void SimulateLoop(mj::Simulate& simulate) {
// paused
else {
// apply pose perturbation
mjv_applyPerturbPose(m, d, &simulate.pert, 1); // move mocap and dynamic bodies
simulate.applyposepertubations(1); // move mocap and dynamic bodies
// run mj_forward, to update rendering and joint sliders
mj_forward(m, d);
@@ -210,19 +232,9 @@ int main(int argc, const char** argv) {
mju_error("Headers and library have different versions");
}
// simulate object for encapsulates UI
// simulate object encapsulates the UI
mj::Simulate simulate;
// request loadmodel if file given (otherwise drag-and-drop)
if (argc>1) {
m = LoadModel(argv[1], simulate);
if (m) {
d = mj_makeData(m);
simulate.load(argv[1], m, d, true);
mj_forward(m, d);
}
}
// init GLFW
if (!glfwInit()) {
mju_error("could not initialize GLFW");
@@ -231,6 +243,21 @@ int main(int argc, const char** argv) {
// start simulation thread (this creates the UI)
simulate.startthread();
// request loadmodel if file given (otherwise drag-and-drop)
if (argc>1) {
m = LoadModel(argv[1], simulate);
if (m) {
d = mj_makeData(m);
simulate.load(argv[1], m, d, true);
mj_forward(m, d);
// allocate ctrlnoise
free(ctrlnoise);
ctrlnoise = (mjtNum*) malloc(sizeof(mjtNum)*m->nu);
mju_zero(ctrlnoise, m->nu);
}
}
SimulateLoop(simulate);
// If simulate loop exited its time to stop the UI