No public description

PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81

doc/includes/references.h

@@ -1845,6 +1845,8 @@ typedef struct mjsCompiler_ {      // compiler options
   mjtByte saveinertial;            // save explicit inertial clause for all bodies to XML
   int alignfree;                   // align free joints with inertial frame
   mjLROpt LRopt;                   // options for lengthrange computation
+  mjString* meshdir;               // mesh and hfield directory
+  mjString* texturedir;            // texture directory
 } mjsCompiler;
 typedef struct mjSpec_ {           // model specification
   mjsElement* element;             // element type
@@ -1853,8 +1855,6 @@ typedef struct mjSpec_ {           // model specification
   // compiler data
   mjsCompiler compiler;            // compiler options
   mjtByte strippath;               // automatically strip paths from mesh files
-  mjString* meshdir;               // mesh and hfield directory
-  mjString* texturedir;            // texture directory
 
   // engine data
   mjOption option;                 // physics options

include/mujoco/mjspec.h

@@ -151,6 +151,8 @@ typedef struct mjsCompiler_ {      // compiler options
   mjtByte saveinertial;            // save explicit inertial clause for all bodies to XML
   int alignfree;                   // align free joints with inertial frame
   mjLROpt LRopt;                   // options for lengthrange computation
+  mjString* meshdir;               // mesh and hfield directory
+  mjString* texturedir;            // texture directory
 } mjsCompiler;
 
 
@@ -161,8 +163,6 @@ typedef struct mjSpec_ {           // model specification
   // compiler data
   mjsCompiler compiler;            // compiler options
   mjtByte strippath;               // automatically strip paths from mesh files
-  mjString* meshdir;               // mesh and hfield directory
-  mjString* texturedir;            // texture directory
 
   // engine data
   mjOption option;                 // physics options

python/mujoco/introspect/structs.py

@@ -7928,6 +7928,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjLROpt'),
                  doc='options for lengthrange computation',
              ),
+             StructFieldDecl(
+                 name='meshdir',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjString'),
+                 ),
+                 doc='mesh and hfield directory',
+             ),
+             StructFieldDecl(
+                 name='texturedir',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjString'),
+                 ),
+                 doc='texture directory',
+             ),
          ),
      )),
     ('mjSpec',
@@ -7959,20 +7973,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtByte'),
                  doc='automatically strip paths from mesh files',
              ),
-             StructFieldDecl(
-                 name='meshdir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='mesh and hfield directory',
-             ),
-             StructFieldDecl(
-                 name='texturedir',
-                 type=PointerType(
-                     inner_type=ValueType(name='mjString'),
-                 ),
-                 doc='texture directory',
-             ),
              StructFieldDecl(
                  name='option',
                  type=ValueType(name='mjOption'),

python/mujoco/specs.cc

@@ -593,6 +593,22 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::arg("degree"), py::arg("sequence") = py::none(),
       py::arg("orientation"), py::return_value_policy::copy);
+  mjSpec.def_property(
+      "meshdir",
+      [](MjSpec& self) -> std::string_view {
+        return *self.ptr->compiler.meshdir;
+      },
+      [](MjSpec& self, std::string_view meshdir) {
+        *(self.ptr->compiler.meshdir) = meshdir;
+      });
+  mjSpec.def_property(
+      "texturedir",
+      [](MjSpec& self) -> std::string_view {
+        return *self.ptr->compiler.texturedir;
+      },
+      [](MjSpec& self, std::string_view texturedir) {
+        *(self.ptr->compiler.texturedir) = texturedir;
+      });
 
   // ============================= MJSBODY =====================================
   mjsBody.def(

src/user/user_api.cc

@@ -297,7 +297,7 @@ int mjs_isWarning(mjSpec* s) {
 void mj_deleteSpec(mjSpec* s) {
   if (s) {
     mjCModel* model = static_cast<mjCModel*>(s->element);
-    delete model;
+    model->Release();
   }
 }
 

src/user/user_flexcomp.cc

@@ -170,11 +170,11 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
       break;
 
     case mjFCOMPTYPE_MESH:
-      res = MakeMesh(model, error, error_sz);
+      res = MakeMesh(model, compiler, error, error_sz);
       break;
 
     case mjFCOMPTYPE_GMSH:
-      res = MakeGMSH(model, error, error_sz);
+      res = MakeGMSH(model, compiler, error, error_sz);
       break;
 
     case mjFCOMPTYPE_DIRECT:
@@ -1075,7 +1075,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear =
 
 
 // make mesh
-bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
+bool mjCFlexcomp::MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz) {
   // strip path
   if (!file.empty() && model->spec.strippath) {
     file = mjuu_strippath(file);
@@ -1092,7 +1092,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   }
 
   // load resource
-  std::string filename = mjuu_combinePaths(mjs_getString(model->spec.meshdir), file);
+  std::string filename = mjuu_combinePaths(mjs_getString(compiler->meshdir), file);
   mjResource* resource = nullptr;
 
 
@@ -1194,7 +1194,7 @@ 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) {
+bool mjCFlexcomp::MakeGMSH(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz) {
   // strip path
   if (!file.empty() && model->spec.strippath) {
     file = mjuu_strippath(file);
@@ -1208,7 +1208,7 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
   // open resource
   mjResource* resource = nullptr;
   try {
-    std::string filename = mjuu_combinePaths(mjs_getString(model->spec.meshdir), file);
+    std::string filename = mjuu_combinePaths(mjs_getString(compiler->meshdir), file);
     resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir),
                                      filename, 0);
   } catch (mjCError err) {

src/user/user_flexcomp.h

@@ -57,8 +57,8 @@ class mjCFlexcomp {
   bool MakeGrid(char* error, int error_sz);
   bool MakeBox(char* error, int error_sz, int dim, bool open = true);
   bool MakeSquare(char* error, int error_sz);
-  bool MakeMesh(mjCModel* model, char* error, int error_sz);
+  bool MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz);
-  bool MakeGMSH(mjCModel* model, char* error, int error_sz);
+  bool MakeGMSH(mjCModel* model, mjsCompiler* compiler, char* error, int error_sz);
   void LoadGMSH(mjCModel* model, mjResource* resource);
   void LoadGMSH41(char* buffer, int binary, int nodeend, int nodebegin,
                   int elemend, int elembegin);

src/user/user_mesh.cc

@@ -303,9 +303,6 @@ void mjCMesh::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
-  if (meshdir_.empty()) {
-    meshdir_ = FilePath(m->spec_meshdir_);
-  }
   if (!plugin_instance_name.empty()) {
     plugin_instance_name = m->prefix + plugin_instance_name + m->suffix;
   }
@@ -705,12 +702,12 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
     }
 
     // copy paths from model if not already defined
+    mujoco::user::FilePath meshdir_;
+    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
+
     if (modelfiledir_.empty()) {
       modelfiledir_ = FilePath(model->modelfiledir_);
     }
-    if (meshdir_.empty()) {
-      meshdir_ = FilePath(model->meshdir_);
-    }
 
     // remove path from file if necessary
     if (model->strippath) {
@@ -3131,9 +3128,6 @@ void mjCSkin::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
-  if (meshdir_.empty()) {
-    meshdir_ = FilePath(m->spec_meshdir_);
-  }
 }
 
 
@@ -3224,9 +3218,8 @@ void mjCSkin::Compile(const mjVFS* vfs) {
     if (modelfiledir_.empty()) {
       modelfiledir_ = FilePath(model->modelfiledir_);
     }
-    if (meshdir_.empty()) {
+    mujoco::user::FilePath meshdir_;
-      meshdir_ = FilePath(model->meshdir_);
+    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
-    }
 
     FilePath filename = meshdir_ + FilePath(file_);
     mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);

src/user/user_model.cc

@@ -140,8 +140,8 @@ mjCModel::mjCModel() {
   elemtype = mjOBJ_MODEL;
   spec_comment_.clear();
   spec_modelfiledir_.clear();
-  spec_meshdir_.clear();
+  meshdir_.clear();
-  spec_texturedir_.clear();
+  texturedir_.clear();
   spec_modelname_ = "MuJoCo Model";
 
   //------------------------ auto-computed statistics
@@ -201,10 +201,12 @@ mjCModel& mjCModel::operator=(const mjCModel& other) {
     this->spec = other.spec;
     *static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other);
     *static_cast<mjSpec*>(this) = static_cast<const mjSpec&>(other);
+    PointToLocal();
 
     // copy attached specs first so that we can resolve references to them
-    for (const auto* s : other.specs_) {
+    for (auto* s : other.specs_) {
-      specs_.push_back(mj_copySpec(s));
+      specs_.push_back(s);
+      static_cast<mjCModel*>(s->element)->AddRef();
       compiler2spec_[&s->compiler] = specs_.back();
     }
 
@@ -869,13 +871,11 @@ void mjCModel::PointToLocal() {
   spec.comment = &spec_comment_;
   spec.modelfiledir = &spec_modelfiledir_;
   spec.modelname = &spec_modelname_;
-  spec.meshdir = &spec_meshdir_;
+  spec.compiler.meshdir = &meshdir_;
-  spec.texturedir = &spec_texturedir_;
+  spec.compiler.texturedir = &texturedir_;
   comment = nullptr;
   modelfiledir = nullptr;
   modelname = nullptr;
-  meshdir = nullptr;
-  texturedir = nullptr;
 }
 
 
@@ -885,8 +885,6 @@ void mjCModel::CopyFromSpec() {
   comment_ = spec_comment_;
   modelfiledir_ = spec_modelfiledir_;
   modelname_ = spec_modelname_;
-  meshdir_ = spec_meshdir_;
-  texturedir_ = spec_texturedir_;
 }
 
 

src/user/user_model.h

@@ -148,8 +148,6 @@ class mjCModel_ : public mjsElement {
   std::string spec_comment_;
   std::string spec_modelfiledir_;
   std::string spec_modelname_;
-  std::string spec_meshdir_;
-  std::string spec_texturedir_;
 };
 
 // mjCModel contains everything needed to generate the low-level model.
@@ -330,7 +328,18 @@ class mjCModel : public mjCModel_, private mjSpec {
   // check for repeated names in list
   void CheckRepeat(mjtObj type);
 
+  // increment and decrement reference count
+  void AddRef() { ++refcount; }
+  int GetRef() const { return refcount; }
+  void Release() {
+    if (--refcount == 0) {
+      delete this;
+    }
+  }
+
  private:
+  int refcount = 1;
+
   // settings for each defaults class
   std::vector<mjCDef*> defaults_;
 

src/user/user_objects.cc

@@ -1210,6 +1210,13 @@ void mjCBase::NameSpace(const mjCModel* m) {
 
 
 
+mjsCompiler* mjCBase::FindCompiler(const mjsCompiler* compiler) const {
+  mjSpec* origin = model->FindSpec(compiler);
+  return origin ? &origin->compiler : &model->spec.compiler;
+}
+
+
+
 // load resource if found (fallback to OS filesystem)
 mjResource* mjCBase::LoadResource(const std::string& modelfiledir,
                                   const std::string& filename,
@@ -1313,8 +1320,7 @@ mjCBody::mjCBody(mjCModel* _model) {
 
 mjCBody::mjCBody(const mjCBody& other, mjCModel* _model) {
   model = _model;
-  mjSpec* origin = model->FindSpec(other.compiler);
+  compiler = FindCompiler(other.compiler);
-  compiler = origin ? &origin->compiler : &model->spec.compiler;
   *this = other;
   CopyPlugin();
 }
@@ -1389,7 +1395,8 @@ mjCBody& mjCBody::operator+=(const mjCBody& other) {
 mjCBody& mjCBody::operator+=(const mjCFrame& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
+    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
+    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
   }
 
   // create a copy of the subtree that contains the frame
@@ -2644,7 +2651,8 @@ mjCFrame& mjCFrame::operator=(const mjCFrame& other) {
 mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
   // append a copy of the attached spec
   if (other.model != model && !model->FindSpec(&other.model->spec.compiler)) {
-    model->AppendSpec(mj_copySpec(&other.model->spec), &other.model->spec.compiler);
+    model->AppendSpec(&other.model->spec, &other.model->spec.compiler);
+    static_cast<mjCModel*>(other.model->spec.element)->AddRef();
   }
 
   // apply namespace and store keyframes in the source model
@@ -4363,9 +4371,6 @@ void mjCHField::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
-  if (meshdir_.empty()) {
-    meshdir_ = FilePath(m->spec_meshdir_);
-  }
 }
 
 
@@ -4489,9 +4494,8 @@ void mjCHField::Compile(const mjVFS* vfs) {
     if (modelfiledir_.empty()) {
       modelfiledir_ = FilePath(model->modelfiledir_);
     }
-    if (meshdir_.empty()) {
+    mujoco::user::FilePath meshdir_;
-      meshdir_ = FilePath(model->meshdir_);
+    meshdir_ = FilePath(mjs_getString(compiler->meshdir));
-    }
 
     FilePath filename = meshdir_ + FilePath(file_);
     mjResource* resource = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
@@ -4626,9 +4630,6 @@ void mjCTexture::NameSpace(const mjCModel* m) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(m->spec_modelfiledir_);
   }
-  if (texturedir_.empty()) {
-    texturedir_ = FilePath(m->spec_texturedir_);
-  }
 }
 
 
@@ -5218,6 +5219,8 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
       }
 
       // make filename
+      mujoco::user::FilePath texturedir_;
+      texturedir_ = FilePath(mjs_getString(compiler->texturedir));
       FilePath filename = texturedir_ + FilePath(cubefiles_[i]);
 
       // load PNG or custom
@@ -5296,9 +5299,8 @@ void mjCTexture::Compile(const mjVFS* vfs) {
   if (modelfiledir_.empty()) {
     modelfiledir_ = FilePath(model->modelfiledir_);
   }
-  if (texturedir_.empty()) {
+  mujoco::user::FilePath texturedir_;
-    texturedir_ = FilePath(model->texturedir_);
+  texturedir_ = FilePath(mjs_getString(compiler->texturedir));
-  }
 
   // buffer from user
   if (!data_.empty()) {

src/user/user_objects.h

@@ -361,6 +361,9 @@ class mjCBase : public mjCBase_ {
   // Returns parent of this object
   virtual mjCBase* GetParent() const { return nullptr; }
 
+  // Returns the model of this object
+  mjsCompiler* FindCompiler(const mjsCompiler* compiler) const;
+
   // Copy assignment
   mjCBase& operator=(const mjCBase& other);
 
@@ -1094,7 +1097,6 @@ class mjCMesh_ : public mjCBase {
 
   // paths stored during model attachment
   mujoco::user::FilePath modelfiledir_;
-  mujoco::user::FilePath meshdir_;
 };
 
 class mjCMesh: public mjCMesh_, private mjsMesh {
@@ -1310,7 +1312,6 @@ class mjCSkin_ : public mjCBase {
 
   // paths stored during model attachment
   mujoco::user::FilePath modelfiledir_;
-  mujoco::user::FilePath meshdir_;
 };
 
 class mjCSkin: public mjCSkin_, private mjsSkin {
@@ -1366,7 +1367,6 @@ class mjCHField_ : public mjCBase {
 
   // paths stored during model attachment
   mujoco::user::FilePath modelfiledir_;
-  mujoco::user::FilePath meshdir_;
 };
 
 class mjCHField : public mjCHField_, private mjsHField {
@@ -1417,7 +1417,6 @@ class mjCTexture_ : public mjCBase {
 
   // paths stored during model attachment
   mujoco::user::FilePath modelfiledir_;
-  mujoco::user::FilePath texturedir_;
 };
 
 class mjCTexture : public mjCTexture_, private mjsTexture {

src/xml/xml_native_reader.cc

@@ -1067,16 +1067,16 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* s) {
     memcpy(s->compiler.eulerseq, text.c_str(), 3);
   }
   if (ReadAttrTxt(section, "assetdir", text)) {
-    mjs_setString(s->meshdir, text.c_str());
+    mjs_setString(s->compiler.meshdir, text.c_str());
-    mjs_setString(s->texturedir, text.c_str());
+    mjs_setString(s->compiler.texturedir, text.c_str());
   }
   // meshdir and texturedir take precedence over assetdir
   string meshdir, texturedir;
   if (ReadAttrTxt(section, "meshdir", meshdir)) {
-    mjs_setString(s->meshdir, meshdir.c_str());
+    mjs_setString(s->compiler.meshdir, meshdir.c_str());
   };
   if (ReadAttrTxt(section, "texturedir", texturedir)) {
-    mjs_setString(s->texturedir, texturedir.c_str());
+    mjs_setString(s->compiler.texturedir, texturedir.c_str());
   }
   if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
     s->compiler.discardvisual = (n == 1);

test/user/user_api_test.cc

@@ -2631,7 +2631,7 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
   mj_deleteModel(m_attached);
 }
 
-TEST_F(MujocoTest, CopyAttachedSpec) {
+TEST_F(MujocoTest, NotCopyAttachedSpec) {
   static constexpr char xml_parent[] = R"(
   <mujoco>
     <asset>
@@ -2675,7 +2675,7 @@ TEST_F(MujocoTest, CopyAttachedSpec) {
 
   mjSpec* child_copy = mjs_findSpec(copy, "child");
   EXPECT_THAT(child_copy, NotNull());
-  EXPECT_NE(child_copy, child);
+  EXPECT_EQ(child_copy, child);
 
   mj_deleteSpec(spec);
   mj_deleteSpec(copy);

test/user/user_model_test.cc

@@ -781,7 +781,7 @@ TEST_F(MujocoTest, Modeldir) {
   mjsMesh* mesh = mjs_addMesh(child, 0);
   mjsFrame* frame = mjs_addFrame(mjs_findBody(child, "world"), 0);
   mjsGeom* geom = mjs_addGeom(mjs_findBody(child, "world"), 0);
-  mjs_setString(child->meshdir, "meshdir");
+  mjs_setString(child->compiler.meshdir, "meshdir");
   mjs_setString(mesh->file, "cube.obj");
   mjs_setName(mesh->element, "cube");
   mjs_setString(geom->meshname, "cube");
@@ -791,7 +791,7 @@ TEST_F(MujocoTest, Modeldir) {
   // parent attaching the child
   mjSpec* spec = mj_makeSpec();
   mjs_setDeepCopy(spec, true);
-  mjs_setString(spec->meshdir, "asset");
+  mjs_setString(spec->compiler.meshdir, "asset");
   mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
   mjModel* model = mj_compile(spec, vfs.get());
   EXPECT_THAT(model, NotNull());

unity/Runtime/Bindings/MjBindings.cs

@@ -5854,6 +5854,8 @@ public unsafe struct mjsCompiler_ {
   public byte saveinertial;
   public int alignfree;
   public mjLROpt_ LRopt;
+  public void* meshdir;
+  public void* texturedir;
 }
 
 [StructLayout(LayoutKind.Sequential)]