Reduce flex stiffness and bending memory size to the exact amount needed.
PiperOrigin-RevId: 911774147 Change-Id: I3b18eba23e75ec91ece8342945f25e0cd7c63a1a
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
b6aac76cc4
commit
0c05215e18
+15
-67
@@ -2106,21 +2106,6 @@ static size_t getpathslength(std::vector<T> list) {
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return result;
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}
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// compute extra stiffness/bending array size for an interpolated flex
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static int flexInterpExtraSize(int order, const int cellcount[3], bool shell) {
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int npe, nelem;
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int cx = cellcount[0], cy = cellcount[1], cz = cellcount[2];
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if (shell) {
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npe = (int)pow(order + 1, 2);
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nelem = 2*(cy*cz + cx*cz + cx*cy);
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} else {
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npe = (int)pow(order + 1, 3);
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nelem = cx * cy * cz;
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}
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int ndof_elem = 3 * npe;
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return nelem * ndof_elem * ndof_elem;
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}
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// set array sizes
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void mjCModel::SetSizes() {
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// set from object list sizes
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@@ -2194,8 +2179,6 @@ void mjCModel::SetSizes() {
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}
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nbvh = nbvhstatic + nbvhdynamic;
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int extra_stiffness_size = 0;
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int extra_bending_size = 0;
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// flex counts
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for (int i=0; i < nflex; i++) {
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nflexnode += flexes_[i]->nnode;
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@@ -2207,13 +2190,8 @@ void mjCModel::SetSizes() {
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nflexshelldata += (int)flexes_[i]->shell.size();
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nflexevpair += (int)flexes_[i]->evpair.size()/2;
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nflextexcoord += (flexes_[i]->HasTexcoord() ? flexes_[i]->get_texcoord().size()/2 : 0);
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if (flexes_[i]->spec.order != 0) {
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int extra_size = flexInterpExtraSize(
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flexes_[i]->spec.order, flexes_[i]->spec.cellcount,
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flexes_[i]->elastic2d != 0);
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extra_stiffness_size += extra_size;
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extra_bending_size += extra_size;
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}
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nflexstiffness += flexes_[i]->stiffness.size();
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nflexbending += flexes_[i]->bending.size();
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if (flexes_[i]->interpolated || flexes_[i]->rigid) {
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continue;
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}
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@@ -2263,10 +2241,6 @@ void mjCModel::SetSizes() {
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}
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}
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}
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// TODO: This can be compacted further when we update mjwarp to not rely on
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// 21*elem_adr for non-interpolated flexes and 17*edge_adr for bending.
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nflexstiffness = nflexelem * 21 + extra_stiffness_size;
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nflexbending = nflexedge * 17 + extra_bending_size;
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// mesh counts
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for (int i=0; i < nmesh; i++) {
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@@ -3351,6 +3325,7 @@ int mjCModel::CountNJten(const mjModel* m) {
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// copy objects outside kinematic tree
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void mjCModel::CopyObjects(mjModel* m) {
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mjtSize adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr, oct_adr;
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mjtSize stiffness_adr, bending_adr;
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mjtSize edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
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mjtSize bonevert_adr, graph_adr, data_adr, bvh_adr;
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mjtSize poly_adr, polymap_adr, polyvert_adr;
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@@ -3465,10 +3440,8 @@ void mjCModel::CopyObjects(mjModel* m) {
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shelldata_adr = 0;
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evpair_adr = 0;
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texcoord_adr = 0;
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int standard_stiffness_size = 21 * m->nflexelem;
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int current_extra_stiffness_adr = standard_stiffness_size;
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int standard_bending_size = 17 * m->nflexedge;
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int current_extra_bending_adr = standard_bending_size;
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stiffness_adr = 0;
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bending_adr = 0;
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for (int i=0; i < nflex; i++) {
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// get pointer
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mjCFlex* pfl = flexes_[i];
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@@ -3491,46 +3464,19 @@ void mjCModel::CopyObjects(mjModel* m) {
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mjuu_copyvec(m->flex_rgba + 4 * i, pfl->rgba, 4);
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// elasticity
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if (pfl->spec.order == 0) {
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m->flex_stiffnessadr[i] = 21 * elem_adr;
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if (pfl->stiffness.empty()) {
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m->flex_stiffnessadr[i] = -1;
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} else {
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m->flex_stiffnessadr[i] = current_extra_stiffness_adr;
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current_extra_stiffness_adr += flexInterpExtraSize(
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pfl->spec.order, pfl->spec.cellcount, pfl->elastic2d != 0);
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}
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if (!pfl->stiffness.empty()) {
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m->flex_stiffnessadr[i] = stiffness_adr;
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mjuu_copyvec(m->flex_stiffness + m->flex_stiffnessadr[i],
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pfl->stiffness.data(), pfl->stiffness.size());
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} else {
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int stiff_size;
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if (pfl->spec.order == 0) {
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stiff_size = 21 * pfl->nelem;
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} else {
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stiff_size = flexInterpExtraSize(
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pfl->spec.order, pfl->spec.cellcount, pfl->elastic2d != 0);
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}
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mjuu_zerovec(m->flex_stiffness + m->flex_stiffnessadr[i], stiff_size);
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}
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if (pfl->spec.order == 0) {
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m->flex_bendingadr[i] = 17 * edge_adr;
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if (pfl->bending.empty()) {
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m->flex_bendingadr[i] = -1;
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} else {
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m->flex_bendingadr[i] = current_extra_bending_adr;
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current_extra_bending_adr += flexInterpExtraSize(
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pfl->spec.order, pfl->spec.cellcount, pfl->elastic2d != 0);
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}
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if (!pfl->bending.empty()) {
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mjuu_copyvec(m->flex_bending + m->flex_bendingadr[i], pfl->bending.data(), pfl->bending.size());
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} else {
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int bending_size;
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if (pfl->spec.order == 0) {
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bending_size = 17 * pfl->nedge;
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} else {
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bending_size = flexInterpExtraSize(
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pfl->spec.order, pfl->spec.cellcount, pfl->elastic2d != 0);
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}
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mjuu_zerovec(m->flex_bending + m->flex_bendingadr[i], bending_size);
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m->flex_bendingadr[i] = bending_adr;
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mjuu_copyvec(m->flex_bending + m->flex_bendingadr[i],
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pfl->bending.data(), pfl->bending.size());
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}
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m->flex_damping[i] = (mjtNum)pfl->damping;
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@@ -3704,6 +3650,8 @@ void mjCModel::CopyObjects(mjModel* m) {
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evpair_adr += (int)pfl->evpair.size()/2;
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texcoord_adr += (int)pfl->texcoord_.size()/2;
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bvh_adr += pfl->tree.Nbvh();
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stiffness_adr += pfl->stiffness.size();
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bending_adr += pfl->bending.size();
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}
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// skins
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