Add compiler settings to mjmModel.

PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1

src/user/user_model.h

@@ -25,15 +25,10 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include <mujoco/mjtnum.h>
 #include "user/user_api.h"
 #include "user/user_objects.h"
 
-typedef enum _mjtInertiaFromGeom {
-  mjINERTIAFROMGEOM_FALSE = 0,    // do not use; inertial element required
-  mjINERTIAFROMGEOM_TRUE,         // always use; overwrite inertial element
-  mjINERTIAFROMGEOM_AUTO          // use only if inertial element is missing
-} mjtInertiaFromGeom;
-
 typedef std::map<std::string, int, std::less<> > mjKeyMap;
 typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
 
@@ -49,10 +44,19 @@ typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
 
 class mjCModel : private mjmModel {
   friend class mjCBody;
+  friend class mjCCamera;
   friend class mjCGeom;
   friend class mjCFlex;
+  friend class mjCHField;
+  friend class mjCFrame;
+  friend class mjCJoint;
   friend class mjCEquality;
+  friend class mjCMesh;
+  friend class mjCSkin;
+  friend class mjCSite;
   friend class mjCTendon;
+  friend class mjCTexture;
+  friend class mjCActuator;
   friend class mjXReader;
   friend class mjXWriter;
 
@@ -60,6 +64,7 @@ class mjCModel : private mjmModel {
   mjCModel();                                          // constructor
   ~mjCModel();                                         // destructor
   void CopyFromSpec();                                 // copy spec to private attributes
+  void PointToLocal();
 
   mjmModel spec;
 
@@ -110,6 +115,10 @@ class mjCModel : private mjmModel {
   mjCBase*    FindObject(mjtObj type, std::string name);  // find object given type and name
   bool        IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
 
+  //------------------------ getters
+  std::string get_meshdir(void) const { return meshdir_; }
+  std::string get_texturedir(void) const { return texturedir_; }
+
   //------------------------ API for plugins
   void        ResolvePlugin(mjCBase* obj,     // resolve plugin instance, create a new one if needed
                             const std::string& plugin_name,
@@ -122,27 +131,6 @@ class mjCModel : private mjmModel {
   std::string modelfiledir;       // path to model file
   std::vector<mjCDef*> defaults;  // settings for each defaults class
 
-  //------------------------ compiler settings
-  bool autolimits;                // infer "limited" attribute based on range
-  double boundmass;               // enforce minimum body mass
-  double boundinertia;            // enforce minimum body diagonal inertia
-  double settotalmass;            // rescale masses and inertias; <=0: ignore
-  bool balanceinertia;            // automatically impose A + B >= C rule
-  bool strippath;                 // automatically strip paths from mesh files
-  bool fitaabb;                   // meshfit to aabb instead of inertia box
-  bool degree;                    // angles in radians or degrees
-  char euler[3];                  // sequence for euler rotations
-  std::string meshdir;            // mesh and hfield directory
-  std::string texturedir;         // texture directory
-  bool discardvisual;             // discard visual geoms in parser
-  bool convexhull;                // compute mesh convex hulls
-  bool usethread;                 // use multiple threads to speed up compiler
-  bool fusestatic;                // fuse static bodies with parent
-  int inertiafromgeom;            // use geom inertias (mjtInertiaFromGeom)
-  int inertiagrouprange[2];       // range of geom groups used to compute inertia
-  bool exactmeshinertia;          // if false, use old formula
-  mjLROpt LRopt;                  // options for lengthrange computation
-
   //------------------------ engine data
   std::string modelname;          // model name
   mjOption option;                // options
@@ -307,5 +295,11 @@ class mjCModel : private mjmModel {
   mjCError errInfo;               // last error info
   int fixCount;                   // how many bodies have been fixed
   std::vector<mjtNum> qpos0;      // save qpos0, to recognize changed key_qpos in write
+
+  // variable-size attributes
+  std::string meshdir_;
+  std::string texturedir_;
+  std::string spec_meshdir_;
+  std::string spec_texturedir_;
 };
 #endif  // MUJOCO_SRC_USER_USER_MODEL_H_