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Remember compiler options during attach.

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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
This commit is contained in:
Alessio Quaglino
2024-10-24 08:29:03 -07:00
committed by Copybara-Service
parent 1043633cc3
commit 159f23e6b4
24 changed files with 302 additions and 204 deletions
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src/user/user_model.cc
+17 -29
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@@ -227,8 +227,10 @@ void mjCModel::CopyList(std::vector<T*>& dest,
}
// copy the element from the other model to this model
source[i]->ForgetKeyframes();
mjSpec* origin = FindSpec(mjs_getString(source[i]->model->spec.modelname));
dest.push_back(candidate);
dest.back()->model = this;
dest.back()->compiler = origin ? &origin->compiler : &spec.compiler;
dest.back()->id = -1;
}
if (!dest.empty()) {
@@ -354,20 +356,6 @@ static bool IsPluginActive(
mjCModel& mjCModel::operator+=(const mjCModel& other) {
// TODO: use compiler settings stored in specs_ during compilation
std::string msg = "cannot attach mjSpecs with incompatible compiler/";
if (other.spec.degree != spec.degree) {
throw mjCError(nullptr, (msg + "angle attribute").c_str());
}
if (other.spec.autolimits != spec.autolimits) {
throw mjCError(nullptr, (msg + "autolimits attribute").c_str());
}
if (other.spec.eulerseq[0] != spec.eulerseq[0] ||
other.spec.eulerseq[1] != spec.eulerseq[1] ||
other.spec.eulerseq[2] != spec.eulerseq[2]) {
throw mjCError(nullptr, (msg + "eulerseq attribute").c_str());
}
// create global lists
mjCBody *world = bodies_[0];
ResetTreeLists();
@@ -1784,8 +1772,8 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
mjOption saveopt = m->opt;
m->opt.disableflags = mjDSBL_FRICTIONLOSS | mjDSBL_CONTACT | mjDSBL_PASSIVE |
mjDSBL_GRAVITY | mjDSBL_ACTUATION;
if (LRopt.timestep>0) {
m->opt.timestep = LRopt.timestep;
if (compiler.LRopt.timestep>0) {
m->opt.timestep = compiler.LRopt.timestep;
}
// number of threads available
@@ -1800,14 +1788,14 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
m->actuator_biastype[i]==mjBIAS_MUSCLE);
int isuser = (m->actuator_gaintype[i]==mjGAIN_USER ||
m->actuator_biastype[i]==mjBIAS_USER);
if ((LRopt.mode==mjLRMODE_NONE) ||
(LRopt.mode==mjLRMODE_MUSCLE && !ismuscle) ||
(LRopt.mode==mjLRMODE_MUSCLEUSER && !ismuscle && !isuser)) {
if ((compiler.LRopt.mode==mjLRMODE_NONE) ||
(compiler.LRopt.mode==mjLRMODE_MUSCLE && !ismuscle) ||
(compiler.LRopt.mode==mjLRMODE_MUSCLEUSER && !ismuscle && !isuser)) {
continue;
}
// use existing length range if available
if (LRopt.useexisting &&
if (compiler.LRopt.useexisting &&
(m->actuator_lengthrange[2*i] < m->actuator_lengthrange[2*i+1])) {
continue;
}
@@ -1817,10 +1805,10 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
}
// single thread
if (!usethread || cnt<2 || nthread<2) {
if (!compiler.usethread || cnt<2 || nthread<2) {
char err[200];
for (int i=0; i<m->nu; i++) {
if (!mj_setLengthRange(m, data, i, &LRopt, err, 200)) {
if (!mj_setLengthRange(m, data, i, &compiler.LRopt, err, 200)) {
throw mjCError(0, "%s", err);
}
}
@@ -1844,7 +1832,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
// prepare thread function arguments, clear errors
LRThreadArg arg[kMaxCompilerThreads];
for (int i=0; i<nthread; i++) {
LRThreadArg temp = {m, pdata[i], i*num, num, &LRopt, err[i], 200};
LRThreadArg temp = {m, pdata[i], i*num, num, &compiler.LRopt, err[i], 200};
arg[i] = temp;
err[i][0] = 0;
}
@@ -3914,7 +3902,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
ProcessLists();
// delete visual assets
if (discardvisual) {
if (compiler.discardvisual) {
DeleteAll(materials_);
DeleteTexcoord(flexes_);
DeleteTexcoord(meshes_);
@@ -3937,7 +3925,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
SetNuser();
// compile meshes (needed for geom compilation)
if (usethread && meshes_.size() > 1) {
if (compiler.usethread && meshes_.size() > 1) {
// multi-threaded mesh compile
CompileMeshes(vfs);
} else {
@@ -3981,10 +3969,10 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
reassignid(excludes_);
// resolve asset references, compute sizes
IndexAssets(discardvisual);
IndexAssets(compiler.discardvisual);
SetSizes();
// fuse static if enabled
if (fusestatic) {
if (compiler.fusestatic) {
FuseStatic();
}
@@ -4144,8 +4132,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
CopyObjects(m);
// scale mass
if (settotalmass>0) {
mj_setTotalmass(m, settotalmass);
if (compiler.settotalmass>0) {
mj_setTotalmass(m, compiler.settotalmass);
}
// set arena size into m->narena