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Add mjmGeom to C API.

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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
This commit is contained in:
Alessio Quaglino
2024-02-08 06:51:44 -08:00
committed by Copybara-Service
parent 3baab3784a
commit 1fe258fb60
14 changed files with 384 additions and 276 deletions
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src/user/user_model.cc
+17 -16
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@@ -565,6 +565,7 @@ mjCDef* mjCModel::AddDef(string name, int parentid) {
if (parentid>=0 && parentid<thisid) {
*def = *defaults[parentid];
defaults[parentid]->childid.push_back(thisid);
def->MakePointerLocal();
}
def->parentid = parentid;
def->name = name;
@@ -654,8 +655,8 @@ void mjCModel::MakeLists(mjCBody* body) {
template <class T>
void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
for (T* plist : list) {
if (name.empty() || plist->material_ == name) {
plist->material_.clear();
if (name.empty() || plist->get_material() == name) {
plist->del_material();
}
}
}
@@ -776,18 +777,18 @@ void mjCModel::IndexAssets(bool discard) {
mjCGeom* pgeom = geoms[i];
// find material by name
if (!pgeom->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->material_);
if (!pgeom->get_material().empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->get_material());
if (m) {
pgeom->matid = m->id;
} else {
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->material_.c_str(), i);
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->get_material().c_str(), i);
}
}
// find mesh by name
if (!pgeom->meshname.empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->meshname);
if (!pgeom->get_meshname().empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->get_meshname());
if (m) {
if (discard && geoms[i]->visual_) {
// do not associate with a mesh
@@ -803,17 +804,17 @@ void mjCModel::IndexAssets(bool discard) {
}
}
} else {
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->meshname.c_str(), i);
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->get_meshname().c_str(), i);
}
}
// find hfield by name
if (!pgeom->hfieldname.empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfieldname);
if (!pgeom->get_hfieldname().empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->get_hfieldname());
if (m) {
pgeom->hfield = (mjCHField*)m;
} else {
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfieldname.c_str(), i);
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->get_hfieldname().c_str(), i);
}
}
}
@@ -1683,7 +1684,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->geom_margin[gid] = (mjtNum)pg->margin;
m->geom_gap[gid] = (mjtNum)pg->gap;
copyvec(m->geom_fluid+mjNFLUID*gid, pg->fluid, mjNFLUID);
copyvec(m->geom_user+nuser_geom*gid, pg->userdata.data(), nuser_geom);
copyvec(m->geom_user+nuser_geom*gid, pg->get_userdata().data(), nuser_geom);
copyvec(m->geom_rgba+4*gid, pg->rgba, 4);
// determine sameframe
@@ -2868,8 +2869,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// mark meshes that need convex hull
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->mesh && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
if (geoms[i]->mesh && geoms[i]->spec.type==mjGEOM_MESH &&
(geoms[i]->spec.contype || geoms[i]->spec.conaffinity)) {
geoms[i]->mesh->set_needhull(true);
}
}
@@ -2895,7 +2896,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_geom == -1) {
nuser_geom = 0;
for (int i=0; i<geoms.size(); i++) {
nuser_geom = mjMAX(nuser_geom, geoms[i]->userdata.size());
nuser_geom = mjMAX(nuser_geom, geoms[i]->spec_userdata_.size());
}
}
if (nuser_site == -1) {
@@ -3369,7 +3370,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
pg->gap = (double)m->geom_gap[i];
if (nuser_geom) {
copyvec(pg->userdata.data(), m->geom_user + nuser_geom*i, nuser_geom);
copyvec(pg->userdata_.data(), m->geom_user + nuser_geom*i, nuser_geom);
}
}