Add compiler settings to mjmModel.

PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1

src/user/user_api.h

@@ -69,11 +69,39 @@ typedef enum _mjtLimited {        // type of limit specification
 } mjtLimited;
 
 
+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;
+
+
 //---------------------------------- attribute structs (mjm) ---------------------------------------
 
 typedef struct _mjmModel {         // model specification
   mjElement element;               // internal, do not modify
   mjStatistic stat;                // statistics override (if defined)
+
+  //------------------------ compiler settings
+  mjtByte 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
+  mjtByte balanceinertia;          // automatically impose A + B >= C rule
+  mjtByte strippath;               // automatically strip paths from mesh files
+  mjtByte fitaabb;                 // meshfit to aabb instead of inertia box
+  mjtByte degree;                  // angles in radians or degrees
+  char euler[3];                   // sequence for euler rotations
+  mjString meshdir;                // mesh and hfield directory
+  mjString texturedir;             // texture directory
+  mjtByte discardvisual;           // discard visual geoms in parser
+  mjtByte convexhull;              // compute mesh convex hulls
+  mjtByte usethread;               // use multiple threads to speed up compiler
+  mjtByte fusestatic;              // fuse static bodies with parent
+  int inertiafromgeom;             // use geom inertias (mjtInertiaFromGeom)
+  int inertiagrouprange[2];        // range of geom groups used to compute inertia
+  mjtByte exactmeshinertia;        // if false, use old formula
+  mjLROpt LRopt;                   // options for lengthrange computation
 } mjmModel;
 
 typedef struct _mjmOrientation {   // alternative orientation specifiers
@@ -320,8 +348,8 @@ typedef struct _mjmFlex {
   // other properties
   int dim;                         // element dimensionality
   double radius;                   // radius around primitive element
-  bool internal;                   // enable internal collisions
+  mjtByte internal;                // enable internal collisions
-  bool flatskin;                   // render flex skin with flat shading
+  mjtByte flatskin;                // render flex skin with flat shading
   int selfcollide;                 // mode for flex self colllision
   int activelayers;                // number of active element layers in 3D
   int group;                       // group for visualizatioh
@@ -442,7 +470,7 @@ typedef struct _mjmMaterial {      // material specification
   mjString name;                   // name
   mjString classname;              // class name
   mjString texture;                // name of texture (empty: none)
-  bool texuniform;                 // make texture cube uniform
+  mjtByte texuniform;              // make texture cube uniform
   float texrepeat[2];              // texture repetition for 2D mapping
   float emission;                  // emission
   float specular;                  // specular

src/user/user_flexcomp.cc

@@ -124,7 +124,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
   }
 
   // compute orientation
-  const char* alterr = alt.Set(quat, model->degree, model->euler);
+  const char* alterr = alt.Set(quat, model->spec.degree, model->spec.euler);
   if (alterr) {
     return comperr(error, alterr, error_sz);
   }
@@ -814,7 +814,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear =
 // make mesh
 bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   // strip path
-  if (!file.empty() && model->strippath) {
+  if (!file.empty() && model->spec.strippath) {
     file = mjuu_strippath(file);
   }
 
@@ -837,7 +837,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   }
 
   // load resource
-  string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
+  string filename = mjuu_makefullname(model->modelfiledir, mjm_getString(model->spec.meshdir), file);
   mjResource* resource = nullptr;
 
   try {
@@ -933,7 +933,7 @@ static int findstring(const char* buffer, int buffer_sz, const char* str) {
 // load points and elements from GMSH file
 bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
   // strip path
-  if (!file.empty() && model->strippath) {
+  if (!file.empty() && model->spec.strippath) {
     file = mjuu_strippath(file);
   }
 
@@ -943,7 +943,7 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
   }
 
   // open resource
-  string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
+  string filename = mjuu_makefullname(model->modelfiledir, mjm_getString(model->spec.meshdir), file);
   mjResource* resource = nullptr;
 
   try {

src/user/user_init.cc

@@ -31,6 +31,28 @@ void mjm_defaultModel(mjmModel& model) {
   model.stat.meansize = mjNAN;
   model.stat.extent = mjNAN;
   model.stat.center[0] = mjNAN;
+
+  // compiler settings
+  model.autolimits = true;
+  model.boundmass = 0;
+  model.boundinertia = 0;
+  model.settotalmass = -1;
+  model.balanceinertia = false;
+  model.strippath = false;
+  model.fitaabb = false;
+  model.degree = true;
+  model.euler[0] = 'x';
+  model.euler[1] = 'y';
+  model.euler[2] = 'z';
+  model.discardvisual = false;
+  model.convexhull = true;
+  model.usethread = true;
+  model.fusestatic = false;
+  model.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
+  model.inertiagrouprange[0] = 0;
+  model.inertiagrouprange[1] = mjNGROUP-1;
+  model.exactmeshinertia = false;
+  mj_defaultLROpt(&model.LRopt);
 }
 
 

src/user/user_mesh.cc

@@ -347,7 +347,7 @@ void mjCMesh::Compile(const mjVFS* vfs) {
       throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
     }
 
-    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file_);
+    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir_, file_);
     mjResource* resource = LoadResource(filename, vfs);
 
     try {
@@ -1950,7 +1950,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
       throw mjCError(this, "Unknown skin file type: %s", file_.c_str());
     }
 
-    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file_);
+    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir_, file_);
     mjResource* resource = LoadResource(filename, vfs);
 
     try {

src/user/user_model.cc

@@ -86,30 +86,8 @@ mjCModel::mjCModel() {
   mjm_defaultModel(spec);
   comment.clear();
   modelfiledir.clear();
-
+  spec_meshdir_.clear();
-  //------------------------ compiler settings
+  spec_texturedir_.clear();
-  autolimits = true;
-  boundmass = 0;
-  boundinertia = 0;
-  settotalmass = -1;
-  balanceinertia = false;
-  strippath = false;
-  fitaabb = false;
-  degree = true;
-  euler[0] = 'x';
-  euler[1] = 'y';
-  euler[2] = 'z';
-  meshdir.clear();
-  texturedir.clear();
-  discardvisual = false;
-  convexhull = true;
-  usethread = true;
-  fusestatic = false;
-  inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
-  inertiagrouprange[0] = 0;
-  inertiagrouprange[1] = mjNGROUP-1;
-  exactmeshinertia = false;
-  mj_defaultLROpt(&LRopt);
 
   //------------------------ auto-computed statistics
 #ifndef MEMORY_SANITIZER
@@ -211,13 +189,25 @@ mjCModel::mjCModel() {
 
 
   // point to model from spec
+  PointToLocal();
+}
+
+
+
+void mjCModel::PointToLocal() {
   spec.element = (mjElement)this;
+  spec.meshdir = (mjString)&spec_meshdir_;
+  spec.texturedir = (mjString)&spec_texturedir_;
 }
 
 
 
 void mjCModel::CopyFromSpec() {
   *static_cast<mjmModel*>(this) = spec;
+  meshdir_ = spec_meshdir_;
+  texturedir_ = spec_texturedir_;
+  meshdir = (mjString)&meshdir_;
+  texturedir = (mjString)&texturedir_;
 }
 
 
@@ -2828,16 +2818,16 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   }
 
   // append directory separator
-  if (!meshdir.empty()) {
+  if (!meshdir_.empty()) {
-    int n = meshdir.length();
+    int n = meshdir_.length();
-    if (meshdir[n-1]!='/' && meshdir[n-1]!='\\') {
+    if (meshdir_[n-1]!='/' && meshdir_[n-1]!='\\') {
-      meshdir += '/';
+      meshdir_ += '/';
     }
   }
-  if (!texturedir.empty()) {
+  if (!texturedir_.empty()) {
-    int n = texturedir.length();
+    int n = texturedir_.length();
-    if (texturedir[n-1]!='/' && texturedir[n-1]!='\\') {
+    if (texturedir_[n-1]!='/' && texturedir_[n-1]!='\\') {
-      texturedir += '/';
+      texturedir_ += '/';
     }
   }
 

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_

src/user/user_objects.cc

@@ -1246,7 +1246,7 @@ void mjCFrame::Compile() {
   }
 
   CopyFromSpec();
-  const char* err = alt_.Set(quat, model->degree, model->euler);
+  const char* err = alt_.Set(quat, model->spec.degree, model->spec.euler);
   if (err) {
     throw mjCError(this, "orientation specification error '%s' in site %d", err, id);
   }
@@ -2599,7 +2599,7 @@ void mjCHField::Compile(const mjVFS* vfs) {
       throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
     }
 
-    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file_);
+    string filename = mjuu_makefullname(model->modelfiledir, model->meshdir_, file_);
     mjResource* resource = LoadResource(filename, vfs);
 
     try {
@@ -3218,7 +3218,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
       }
 
       // make filename
-      string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, cubefiles_[i]);
+      string filename = mjuu_makefullname(model->modelfiledir, model->texturedir_, cubefiles_[i]);
 
       // load PNG or custom
       unsigned int w, h;
@@ -3318,7 +3318,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
     }
 
     // make filename
-    string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, file_);
+    string filename = mjuu_makefullname(model->modelfiledir, model->texturedir_, file_);
 
     // dispatch
     if (type==mjTEXTURE_2D) {

src/xml/xml.cc

@@ -376,9 +376,9 @@ mjCModel* mjParseXML(const char* filename, const mjVFS* vfs,
 
       // set reasonable default for parsing a URDF
       // this is separate from the Parser to allow multiple URDFs to be loaded.
-      model->strippath = true;
+      model->spec.strippath = true;
-      model->fusestatic = true;
+      model->spec.fusestatic = true;
-      model->discardvisual = true;
+      model->spec.discardvisual = true;
 
       parser.SetModel(model);
       parser.Parse(root);

src/xml/xml_native_reader.cc

@@ -818,7 +818,7 @@ void mjXReader::Parse(XMLElement* root) {
 
   for (XMLElement* section = FirstChildElement(root, "compiler"); section;
        section = NextSiblingElement(section, "compiler")) {
-    Compiler(section, model);
+    Compiler(section, &model->spec);
   }
 
   for (XMLElement* section = FirstChildElement(root, "option"); section;
@@ -909,7 +909,7 @@ void mjXReader::Parse(XMLElement* root) {
 
 
 // compiler section parser
-void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
+void mjXReader::Compiler(XMLElement* section, mjmModel* mod) {
   string text;
   int n;
 
@@ -945,12 +945,17 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
     memcpy(mod->euler, text.c_str(), 3);
   }
   if (ReadAttrTxt(section, "assetdir", text)) {
-    mod->meshdir = text;
+    mjm_setString(mod->meshdir, text.c_str());
-    mod->texturedir = text;
+    mjm_setString(mod->texturedir, text.c_str());
   }
   // meshdir and texturedir take precedence over assetdir
-  ReadAttrTxt(section, "meshdir", mod->meshdir);
+  std::string meshdir, texturedir;
-  ReadAttrTxt(section, "texturedir", mod->texturedir);
+  if (ReadAttrTxt(section, "meshdir", meshdir)) {
+    mjm_setString(mod->meshdir, meshdir.c_str());
+  };
+  if (ReadAttrTxt(section, "texturedir", texturedir)) {
+    mjm_setString(mod->texturedir, texturedir.c_str());
+  }
   if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
     mod->discardvisual = (n==1);
   }

src/xml/xml_native_reader.h

@@ -43,7 +43,7 @@ class mjXReader : public mjXBase {
   void SetTextureDir(std::string texturedir);
 
   // XML sections embedded in all formats
-  static void Compiler(tinyxml2::XMLElement* section, mjCModel* mod);  // compiler section
+  static void Compiler(tinyxml2::XMLElement* section, mjmModel* mod);  // compiler section
   static void Option(tinyxml2::XMLElement* section, mjOption* opt);    // option section
   static void Size(tinyxml2::XMLElement* section, mjCModel* mod);      // size section
 

src/xml/xml_native_writer.cc

@@ -821,11 +821,11 @@ void mjXWriter::Compiler(XMLElement* root) {
     WriteAttrTxt(section, "convexhull", FindValue(bool_map, 2, model->convexhull));
   }
   WriteAttrTxt(section, "angle", "radian");
-  if (!model->meshdir.empty()) {
+  if (!model->get_meshdir().empty()) {
-    WriteAttrTxt(section, "meshdir", model->meshdir);
+    WriteAttrTxt(section, "meshdir", model->get_meshdir());
   }
-  if (!model->texturedir.empty()) {
+  if (!model->get_texturedir().empty()) {
-    WriteAttrTxt(section, "texturedir", model->texturedir);
+    WriteAttrTxt(section, "texturedir", model->get_texturedir());
   }
   if (!model->usethread) {
     WriteAttrTxt(section, "usethread", "false");

src/xml/xml_urdf.cc

@@ -93,7 +93,7 @@ void mjXURDF::Parse(
   if (mjc) {
     XMLElement *section;
     if ((section = FindSubElem(mjc, "compiler"))) {
-      mjXReader::Compiler(section, model);
+      mjXReader::Compiler(section, &model->spec);
     }
 
     if ((section = FindSubElem(mjc, "option"))) {
@@ -106,7 +106,7 @@ void mjXURDF::Parse(
   }
 
   // enforce required compiler defaults for URDF
-  model->degree = false;
+  model->spec.degree = false;
 
   // get model name
   ReadAttrTxt(root, "name", model->modelname);
@@ -310,7 +310,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
         }
       }
       // create geom if not discarded
-      if (!model->discardvisual) {
+      if (!model->spec.discardvisual) {
         pgeom = Geom(elem, pbody, false);
 
         // save color
@@ -563,7 +563,7 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
                                       .value_or(default_meshscale);
 
     // strip file name if necessary
-    if (model->strippath) {
+    if (model->spec.strippath) {
       meshfile = mjuu_strippath(meshfile);
     }