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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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test/engine/engine_io_test.cc
+37
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@@ -193,6 +193,43 @@ TEST_F(EngineIoTest, MakeDataResetsAllArenaPointerSizes) {
mj_deleteModel(model);
}
TEST_F(EngineIoTest, MjvCopyModel) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="tet" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="tet"/>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model1 = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model1, NotNull()) << error;
mjModel* model2 = mj_copyModel(nullptr, model1);
ASSERT_THAT(model2, NotNull()) << error;
model1->mesh_vert[0] = 0.1;
model1->geom_rgba[0] = 0.2;
mj_copyModel(model2, model1);
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1);
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.2);
model1->mesh_vert[0] = 0.3;
model1->geom_rgba[0] = 0.4;
mjv_copyModel(model2, model1);
EXPECT_FLOAT_EQ(model2->mesh_vert[0], 0.1); // unchanged
EXPECT_FLOAT_EQ(model2->geom_rgba[0], 0.4);
// mj_deleteData(data);
mj_deleteModel(model2);
mj_deleteModel(model1);
}
using ValidateReferencesTest = MujocoTest;
TEST_F(ValidateReferencesTest, BodyReferences) {