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Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.

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This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.

PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
This commit is contained in:
Yuval Tassa
2024-11-22 09:37:18 -08:00
committed by Copybara-Service
parent 74dcd51d83
commit 1d64362adc
9 changed files with 147 additions and 32 deletions
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include/mujoco/mjxmacro.h
+14 -9
View File
@@ -378,13 +378,13 @@
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \
X ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
X ( int, mesh_face, nmeshface, 3 ) \
X ( int, mesh_facenormal, nmeshface, 3 ) \
X ( int, mesh_facetexcoord, nmeshface, 3 ) \
X ( int, mesh_graph, nmeshgraph, 1 ) \
XNV ( float, mesh_vert, nmeshvert, 3 ) \
XNV ( float, mesh_normal, nmeshnormal, 3 ) \
XNV ( float, mesh_texcoord, nmeshtexcoord, 2 ) \
XNV ( int, mesh_face, nmeshface, 3 ) \
XNV ( int, mesh_facenormal, nmeshface, 3 ) \
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
XMJV( int, mesh_pathadr, nmesh, 1 ) \
XMJV( int, skin_matid, nskin, 1 ) \
XMJV( int, skin_group, nskin, 1 ) \
@@ -412,14 +412,14 @@
X ( int, hfield_nrow, nhfield, 1 ) \
X ( int, hfield_ncol, nhfield, 1 ) \
X ( int, hfield_adr, nhfield, 1 ) \
X ( float, hfield_data, nhfielddata, 1 ) \
XNV ( float, hfield_data, nhfielddata, 1 ) \
XMJV( int, hfield_pathadr, nhfield, 1 ) \
X ( int, tex_type, ntex, 1 ) \
X ( int, tex_height, ntex, 1 ) \
X ( int, tex_width, ntex, 1 ) \
X ( int, tex_nchannel, ntex, 1 ) \
X ( int, tex_adr, ntex, 1 ) \
X ( mjtByte, tex_data, ntexdata, 1 ) \
XNV ( mjtByte, tex_data, ntexdata, 1 ) \
XMJV( int, tex_pathadr, ntex, 1 ) \
XMJV( int, mat_texid, nmat, mjNTEXROLE ) \
XMJV( mjtByte, mat_texuniform, nmat, 1 ) \
@@ -779,4 +779,9 @@
// redefine X to expand to nothing, and XMJV to do what's required
#define XMJV X
// alias XNV to be the same as X
// to obtain only X macros for fields that are relevant for mjvScene creation,
// redefine XNV to expand to nothing
#define XNV X
#endif // MUJOCO_MJXMACRO_H_
include/mujoco/mujoco.h
+3
View File
@@ -692,6 +692,9 @@ MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOptio
const mjvPerturb* pert, mjvCamera* cam, int catmask,
mjvScene* scn);
// Copy mjModel, skip large arrays not required for abstract visualization.
MJAPI void mjv_copyModel(mjModel* dest, const mjModel* src);
// Set default scene state.
MJAPI void mjv_defaultSceneState(mjvSceneState* scnstate);