Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.

PiperOrigin-RevId: 896483023
Change-Id: I6dde2c20d8e8e229cf95e1f002dd10525d3376e6

doc/changelog.rst

@@ -44,6 +44,8 @@ General
    - The ``vertcollide`` field in :ref:`mjsFlex` has been removed. It is no longer required since
      :doc:`MuJoCo Warp <mjwarp/index>` supports native flex collisions.
 
+   - The :ref:`mjtWarning` enum value ``mjWARN_VGEOMFULL`` is removed. Exhaustion of visual geoms is now handled
+     internally by the :ref:`mjvScene`.
 
 Bug fixes
 ^^^^^^^^^

doc/includes/references.h

@@ -63,7 +63,6 @@ typedef enum mjtWarning_ {          // warning types
   mjWARN_INERTIA         = 0,       // (near) singular inertia matrix
   mjWARN_CONTACTFULL,               // too many contacts in contact list
   mjWARN_CNSTRFULL,                 // too many constraints
-  mjWARN_VGEOMFULL,                 // too many visual geoms
   mjWARN_BADQPOS,                   // bad number in qpos
   mjWARN_BADQVEL,                   // bad number in qvel
   mjWARN_BADQACC,                   // bad number in qacc
@@ -3096,7 +3095,9 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
-  int      status;                // status; 0: ok, 1: geoms exhausted
+
+  // geom buffer status
+  int      status;                // 0: ok, 1: geoms exhausted, warning issued
 };
 typedef struct mjvScene_ mjvScene;
 struct mjvFigure_ {               // abstract 2D figure passed to OpenGL renderer

include/mujoco/mjdata.h

@@ -77,7 +77,6 @@ typedef enum mjtWarning_ {          // warning types
   mjWARN_INERTIA         = 0,       // (near) singular inertia matrix
   mjWARN_CONTACTFULL,               // too many contacts in contact list
   mjWARN_CNSTRFULL,                 // too many constraints
-  mjWARN_VGEOMFULL,                 // too many visual geoms
   mjWARN_BADQPOS,                   // bad number in qpos
   mjWARN_BADQVEL,                   // bad number in qvel
   mjWARN_BADQACC,                   // bad number in qacc

include/mujoco/mjvisualize.h

@@ -355,7 +355,9 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
-  int      status;                // status; 0: ok, 1: geoms exhausted
+
+  // geom buffer status
+  int      status;                // 0: ok, 1: geoms exhausted, warning issued
 };
 typedef struct mjvScene_ mjvScene;
 

plugin/sdf/sdf.cc

@@ -91,7 +91,11 @@ void SdfVisualizer::Visualize(const mjModel* m, const mjData* d,
     for (int k = 0; k < 2; k++) {
       for (int j = 0; j < (k == 0 ? 2 : n-1); j++) {
         if (scn->ngeom >= scn->maxgeom) {
-          mj_warning((mjData*)d, mjWARN_VGEOMFULL, scn->maxgeom);
+          if (!scn->status) {
+            mju_warning("Pre-allocated visual geom buffer is full. "
+                        "Increase maxgeom above %d.", scn->maxgeom);
+            scn->status = 1;
+          }
           return;
         }
         mjvGeom* thisgeom = scn->geoms + scn->ngeom;

plugin/sensor/touch_grid.cc

@@ -427,7 +427,11 @@ void TouchGrid::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
         continue;
       }
       if (scn->ngeom >= scn->maxgeom) {
-        mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
+        if (!scn->status) {
+          mju_warning("Pre-allocated visual geom buffer is full. "
+                      "Increase maxgeom above %d.", scn->maxgeom);
+          scn->status = 1;
+        }
         mj_freeStack(d);
         return;
       } else {

python/mujoco/introspect/enums.py

@@ -578,12 +578,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjWARN_INERTIA', 0),
              ('mjWARN_CONTACTFULL', 1),
              ('mjWARN_CNSTRFULL', 2),
-             ('mjWARN_VGEOMFULL', 3),
+             ('mjWARN_BADQPOS', 3),
-             ('mjWARN_BADQPOS', 4),
+             ('mjWARN_BADQVEL', 4),
-             ('mjWARN_BADQVEL', 5),
+             ('mjWARN_BADQACC', 5),
-             ('mjWARN_BADQACC', 6),
+             ('mjWARN_BADCTRL', 6),
-             ('mjWARN_BADCTRL', 7),
+             ('mjNWARNING', 7),
-             ('mjNWARNING', 8),
          ]),
      )),
     ('mjtTimer',

python/mujoco/introspect/structs.py

@@ -5416,7 +5416,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='warning',
                  type=ArrayType(
                      inner_type=ValueType(name='mjWarningStat'),
-                     extents=(8,),
+                     extents=(7,),
                  ),
                  doc='warning statistics (mutable)',
              ),
@@ -10524,7 +10524,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='status',
                  type=ValueType(name='int'),
-                 doc='status; 0: ok, 1: geoms exhausted',
+                 doc='0: ok, 1: geoms exhausted, warning issued',
              ),
          ),
      )),

python/mujoco/introspect/structs_test.py

@@ -14,8 +14,6 @@
 # ==============================================================================
 """Tests for structs.py."""
 
-import re
-
 from absl.testing import absltest
 
 from . import ast_nodes
@@ -36,7 +34,7 @@ class StructsTest(absltest.TestCase):
       field_names.add(field.name)
       if field.name == 'warning':
         self.assertEqual(field.type,
-                         type_parsing.parse_type('mjWarningStat[8]'))
+                         type_parsing.parse_type('mjWarningStat[7]'))
         self.assertEqual(field.doc, 'warning statistics (mutable)')
       elif field.name == 'qpos':
         self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))

simulate/simulate.cc

@@ -2142,11 +2142,7 @@ void Simulate::Sync(bool state_only) {
       m_->stat = m_passive_->stat;
     }
 
-    // synchronize number of mjWARN_VGEOMFULL warnings
+
-    if (d_passive_->warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
-      d_->warning[mjWARN_VGEOMFULL].number +=
-          d_passive_->warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
-    }
   }
 
   if (pending_.save_xml) {
@@ -2334,7 +2330,7 @@ void Simulate::Sync(bool state_only) {
     mjopt_prev_ = m_passive_->opt;
     mjvis_prev_ = m_passive_->vis;
     mjstat_prev_ = m_passive_->stat;
-    warn_vgeomfull_prev_ = d_passive_->warning[mjWARN_VGEOMFULL].number;
+
   }
 
   // update settings
@@ -2550,7 +2546,7 @@ void Simulate::LoadOnRenderThread() {
     mjopt_prev_ = m_->opt;
     opt_prev_ = opt;
     cam_prev_ = cam;
-    warn_vgeomfull_prev_ = d_->warning[mjWARN_VGEOMFULL].number;
+
 
     // full copy on init
     m_passive_ = mj_copyModel(nullptr, m_);
@@ -3022,7 +3018,11 @@ void Simulate::RenderLoop() {
         int nusergeom = user_scn_geoms_.size();
         int ngeom = std::min(nusergeom, this->scn.maxgeom - this->scn.ngeom);
         if (ngeom < nusergeom) {
-          mj_warning(d_passive_, mjWARN_VGEOMFULL, this->scn.maxgeom);
+          if (!this->scn.status) {
+            mju_warning("Pre-allocated visual geom buffer is full. "
+                        "Increase maxgeom above %d.", this->scn.maxgeom);
+            this->scn.status = 1;
+          }
         }
         std::memcpy(this->scn.geoms + this->scn.ngeom, user_scn_geoms_.data(),
                     ngeom * sizeof(mjvGeom));

simulate/simulate.h

@@ -147,8 +147,6 @@ class Simulate {
   mjvOption opt_prev_;
   mjvCamera cam_prev_;
 
-  int warn_vgeomfull_prev_;
-
   // pending GUI-driven actions, to be applied at the next call to Sync
   struct {
     std::optional<std::string> save_xml;

src/engine/engine_util_misc.c

@@ -1595,10 +1595,6 @@ const char* mju_warningText(int warning, size_t info) {
                "Increase arena memory allocation above %s bytes.", mju_writeNumBytes(info));
     break;
 
-  case mjWARN_VGEOMFULL:
-    mjSNPRINTF(str, "Pre-allocated visual geom buffer is full. Increase maxgeom above %zu.", info);
-    break;
-
   case mjWARN_BADQPOS:
     mjSNPRINTF(str, "Nan, Inf or huge value in QPOS at DOF %zu. The simulation is unstable.", info);
     break;

src/engine/engine_vis_visualize.c

@@ -169,7 +169,11 @@ static int bodycategory(const mjModel* m, int bodyid) {
 mjvGeom* acquireGeom(mjvScene* scn, int objid, int category, int objtype) {
   // check for overflow, SHOULD NOT OCCUR
   if (scn->ngeom >= scn->maxgeom) {
-    scn->status = 1;
+    if (!scn->status) {
+      mju_warning("Pre-allocated visual geom buffer is full. "
+                  "Increase maxgeom above %d.", scn->maxgeom);
+      scn->status = 1;
+    }
     return NULL;
   }
 
@@ -3379,7 +3383,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
                      const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn) {
   // clear geoms
   scn->ngeom = 0;
-  scn->status = 0;
 
   // trigger plugin visualization hooks
   if (m->nplugin) {
@@ -3416,10 +3419,6 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
   if (opt->flags[mjVIS_SKIN]) {
     mjv_updateActiveSkin(m, d, scn, opt);
   }
-
-  if (scn->status) {
-    mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
-  }
 }
 
 

test/engine/engine_vis_visualize_test.cc

@@ -101,7 +101,6 @@ TEST_F(MjvSceneTest, UpdateSceneGeomsExhausted) {
   mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
   EXPECT_EQ(scn_.status, 1);
   EXPECT_EQ(scn_.ngeom, maxgeoms);
-  EXPECT_EQ(data->warning[mjWARN_VGEOMFULL].number, 1);
 
   mj_deleteData(data);
   FreeSceneObjects();

unity/Runtime/Bindings/MjBindings.cs

@@ -489,12 +489,11 @@ public enum mjtWarning : int{
   mjWARN_INERTIA = 0,
   mjWARN_CONTACTFULL = 1,
   mjWARN_CNSTRFULL = 2,
-  mjWARN_VGEOMFULL = 3,
+  mjWARN_BADQPOS = 3,
-  mjWARN_BADQPOS = 4,
+  mjWARN_BADQVEL = 4,
-  mjWARN_BADQVEL = 5,
+  mjWARN_BADQACC = 5,
-  mjWARN_BADQACC = 6,
+  mjWARN_BADCTRL = 6,
-  mjWARN_BADCTRL = 7,
+  mjNWARNING = 7,
-  mjNWARNING = 8,
 }
 public enum mjtTimer : int{
   mjTIMER_STEP = 0,
@@ -5699,7 +5698,6 @@ public unsafe struct mjData_ {
   public mjWarningStat_ warning4;
   public mjWarningStat_ warning5;
   public mjWarningStat_ warning6;
-  public mjWarningStat_ warning7;
   public mjTimerStat_ timer0;
   public mjTimerStat_ timer1;
   public mjTimerStat_ timer2;

unity/Runtime/Components/MjScene.cs

@@ -359,22 +359,18 @@ public class MjScene : MonoBehaviour {
     }
     if (Data->warning3.number > 0) {
       Data->warning3.number = 0;
-      throw new PhysicsRuntimeException("VGEOMFULL: who constructed a mjvScene?!");
+      throw new PhysicsRuntimeException("BADQPOS: NaN/inf in qpos.");
     }
     if (Data->warning4.number > 0) {
       Data->warning4.number = 0;
-      throw new PhysicsRuntimeException("BADQPOS: NaN/inf in qpos.");
+      throw new PhysicsRuntimeException("BADQVEL: NaN/inf in qvel.");
     }
     if (Data->warning5.number > 0) {
       Data->warning5.number = 0;
-      throw new PhysicsRuntimeException("BADQVEL: NaN/inf in qvel.");
+      throw new PhysicsRuntimeException("BADQACC: NaN/inf in qacc.");
     }
     if (Data->warning6.number > 0) {
       Data->warning6.number = 0;
-      throw new PhysicsRuntimeException("BADQACC: NaN/inf in qacc.");
-    }
-    if (Data->warning7.number > 0) {
-      Data->warning7.number = 0;
       throw new PhysicsRuntimeException("BADCTRL: NaN/inf in ctrl.");
     }
   }

wasm/codegen/generated/bindings.cc

@@ -11380,7 +11380,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .value("mjWARN_INERTIA", mjWARN_INERTIA)
     .value("mjWARN_CONTACTFULL", mjWARN_CONTACTFULL)
     .value("mjWARN_CNSTRFULL", mjWARN_CNSTRFULL)
-    .value("mjWARN_VGEOMFULL", mjWARN_VGEOMFULL)
     .value("mjWARN_BADQPOS", mjWARN_BADQPOS)
     .value("mjWARN_BADQVEL", mjWARN_BADQVEL)
     .value("mjWARN_BADQACC", mjWARN_BADQACC)