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Migrate mjModel size fields from int to mjtSize.

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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.

PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This commit is contained in:
Yuval Tassa
2026-01-23 09:40:42 -08:00
committed by Copybara-Service
parent 4a64017a5f
commit 30b903b6c0
24 changed files with 832 additions and 802 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.c
+94 -96
View File
@@ -50,10 +50,7 @@
#pragma warning (disable: 4305) // disable MSVC warning: truncation from 'double' to 'float'
#endif
static const int MAX_ARRAY_SIZE = INT_MAX / 4;
//----------------------------------- static utility functions -------------------------------------
static const int MAX_ARRAY_SIZE = INT_MAX;
//----------------------------------- static utility functions -------------------------------------
@@ -70,24 +67,12 @@ static const int ID = 54321;
#define MJMODEL_MEMBER(name) (((mjModel*) NULL)->name)
// count ints in mjModel
static int getnint(void) {
int cnt = 0;
#define X(name) cnt += _Generic(MJMODEL_MEMBER(name), int: 1, default: 0);
MJMODEL_INTS
#undef X
return cnt;
}
// count buffer members in mjModel (mjtSize)
static int getnbuffer(void) {
// count mjtSize members in mjModel
static int getnsize(void) {
int cnt = 0;
#define X(name) cnt += _Generic(MJMODEL_MEMBER(name), mjtSize: 1, default: 0);
MJMODEL_INTS
MJMODEL_SIZES
#undef X
return cnt;
@@ -107,7 +92,7 @@ static int getnptr(void) {
// write to memory buffer
static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf) {
static void bufwrite(const void* src, int num, mjtSize szbuf, void* buf, mjtSize* ptrbuf) {
// check pointers
if (!src || !buf || !ptrbuf) {
mjERROR("NULL pointer passed to bufwrite");
@@ -125,7 +110,7 @@ static void bufwrite(const void* src, int num, int szbuf, void* buf, int* ptrbuf
// read from memory buffer
static void bufread(void* dest, int num, int szbuf, const void* buf, int* ptrbuf) {
static void bufread(void* dest, int num, mjtSize szbuf, const void* buf, mjtSize* ptrbuf) {
// check pointers
if (!dest || !buf || !ptrbuf) {
mjERROR("NULL pointer passed to bufread");
@@ -184,8 +169,8 @@ static void mj_setPtrModel(mjModel* m) {
// performs the following operations:
// *nbuffer += SKIP(*offset) + type_size*nr*nc;
// *offset += SKIP(*offset) + type_size*nr*nc;
static int safeAddToBufferSize(intptr_t* offset, mjtSize* nbuffer,
size_t type_size, int nr, int nc) {
static mjtSize safeAddToBufferSize(intptr_t* offset, mjtSize* nbuffer,
size_t type_size, mjtSize nr, mjtSize nc) {
if (type_size < 0 || nr < 0 || nc < 0) {
return 0;
}
@@ -216,25 +201,58 @@ static void freeModelBuffers(mjModel* m) {
// allocate and initialize mjModel structure
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ntree,
int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nJfe, int nJfv,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nmeshpoly, int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert,
int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
int ntexdata, int nmat, int npair, int nexclude, int neq, int ntendon,
int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext,
int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap,
int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames, int npaths) {
mjtSize nq, mjtSize nv, mjtSize nu, mjtSize na, mjtSize nbody, mjtSize nbvh, mjtSize nbvhstatic,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh, mjtSize nmeshvert,
mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface, mjtSize nmeshgraph,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nwrap,
mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext, mjtSize ntextdata,
mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap, mjtSize nplugin,
mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths) {
intptr_t offset = 0;
int allocate = *dest ? 0 : 1;
mjModel* m = NULL;
// CHECK SIZE PARAMETERS
{
// dummy variables for MJMODEL_SIZES set after mjModel construction
int nnames_map=0, nJmom=0, ngravcomp=0, nemax=0, njmax=0;
int nconmax=0, nuserdata=0, nsensordata=0, npluginstate=0, narena=0, nbuffer=0;
// sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
#define X(name) \
if (name < 0) { \
mju_warning("Invalid model: %s is negative (%lld).", #name, (long long)name); \
return; \
} \
if (name >= MAX_ARRAY_SIZE && \
strcmp(#name, "ntexdata") != 0 && strcmp(#name, "ntextdata") != 0) { \
mju_warning("Invalid model: %s is too large. Expected < %d. Got %lld.", \
#name, MAX_ARRAY_SIZE, (long long)name); \
return; \
}
MJMODEL_SIZES
#undef X
// suppress unused variable warnings
(void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax;
(void)nconmax; (void)nuserdata; (void)nsensordata; (void)npluginstate; (void)narena; (void)nbuffer;
}
// nbody should always be positive
if (nbody == 0) {
mju_warning("Invalid model: nbody == 0");
return;
}
// allocate mjModel
if (!allocate) {
m = *dest;
@@ -336,29 +354,6 @@ void mj_makeModel(mjModel** dest,
m->nnames_map = mjLOAD_MULTIPLE * nnames_map;
m->npaths = npaths;
#define X(name) \
if ((m->name) < 0) { \
if (allocate) mju_free(m); \
mju_warning("Invalid model: negative " #name); \
return; \
}
MJMODEL_INTS;
#undef X
// nbody should always be positive
if (m->nbody == 0) {
if (allocate) mju_free(m);
mju_warning("Invalid model: nbody == 0");
return;
}
// nmocap is going to get multiplied by 4, and shouldn't overflow
if (m->nmocap >= MAX_ARRAY_SIZE) {
if (allocate) mju_free(m);
mju_warning("Invalid model: nmocap too large");
return;
}
// compute buffer size
m->nbuffer = 0;
#define X(type, name, nr, nc) \
@@ -484,10 +479,10 @@ void mjv_copyModel(mjModel* dest, const mjModel* src) {
// save model to binary file, or memory buffer of szbuf>0
void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buffer_sz) {
FILE* fp = 0;
int ptrbuf = 0;
mjtSize ptrbuf = 0;
// standard header
int header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnbuffer(), getnptr()};
int header[NHEADER] = {ID, sizeof(mjtNum), getnsize(), mj_version(), getnptr()};
// open file for writing if no buffer
if (!buffer) {
@@ -502,7 +497,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
if (fp) {
fwrite(header, sizeof(int), NHEADER, fp);
#define X(name) fwrite(&m->name, sizeof(m->name), 1, fp);
MJMODEL_INTS
MJMODEL_SIZES
#undef X
fwrite((void*)&m->opt, sizeof(mjOption), 1, fp);
fwrite((void*)&m->vis, sizeof(mjVisual), 1, fp);
@@ -517,7 +512,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
} else {
bufwrite(header, sizeof(header), buffer_sz, buffer, &ptrbuf);
#define X(name) bufwrite(&m->name, sizeof(m->name), buffer_sz, buffer, &ptrbuf);
MJMODEL_INTS
MJMODEL_SIZES
#undef X
bufwrite((void*)&m->opt, sizeof(mjOption), buffer_sz, buffer, &ptrbuf);
bufwrite((void*)&m->vis, sizeof(mjVisual), buffer_sz, buffer, &ptrbuf);
@@ -539,7 +534,7 @@ void mj_saveModel(const mjModel* m, const char* filename, void* buffer, int buff
// load binary MJB model
mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
int ptrbuf = 0;
mjtSize ptrbuf = 0;
mjModel *m = 0;
if (buffer_sz < NHEADER*sizeof(int)) {
@@ -551,7 +546,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
bufread(header, NHEADER*sizeof(int), buffer_sz, buffer, &ptrbuf);
// check header
int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnint(), getnbuffer(), getnptr()};
int expected_header[NHEADER] = {ID, sizeof(mjtNum), getnsize(), mj_version(), getnptr()};
for (int i=0; i < NHEADER; i++) {
if (header[i] != expected_header[i]) {
switch (i) {
@@ -564,11 +559,11 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
return NULL;
case 2:
mju_warning("Model and executable have different number of ints in mjModel");
mju_warning("Model and executable have different number of sizes in mjModel");
return NULL;
case 3:
mju_warning("Model and executable have different number of size_t members in mjModel");
mju_warning("Model and executable use different MuJoCo version");
return NULL;
default:
@@ -578,35 +573,39 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
}
}
if (ptrbuf + sizeof(int)*getnint() + sizeof(mjtSize)*getnbuffer() > buffer_sz) {
int nsize = getnsize(); // number of mjtSize fields in mjModel
if (ptrbuf + sizeof(mjtSize)*nsize > buffer_sz) {
mju_warning("Truncated model file - ran out of data while reading sizes");
return NULL;
}
// read mjModel construction fields
int ints[256];
bufread(ints, sizeof(int)*getnint(), buffer_sz, buffer, &ptrbuf);
mjtSize sizes[256];
bufread(sizes, sizeof(mjtSize)*nsize, buffer_sz, buffer, &ptrbuf);
// allocate new mjModel
mj_makeModel(&m,
ints[0], ints[1], ints[2], ints[3], ints[4], ints[5], ints[6],
ints[7], ints[8], ints[9], ints[10], ints[11], ints[12], ints[13],
ints[14], ints[15], ints[16], ints[17], ints[18], ints[19], ints[20],
ints[21], ints[22], ints[23], ints[24], ints[25], ints[26], ints[27],
ints[28], ints[29], ints[30], ints[31], ints[32], ints[33], ints[34],
ints[35], ints[36], ints[37], ints[38], ints[39], ints[40], ints[41],
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69],
ints[70], ints[71], ints[72], ints[73], ints[74], ints[75], ints[76]);
sizes[0], sizes[1], sizes[2], sizes[3], sizes[4], sizes[5], sizes[6],
sizes[7], sizes[8], sizes[9], sizes[10], sizes[11], sizes[12], sizes[13],
sizes[14], sizes[15], sizes[16], sizes[17], sizes[18], sizes[19], sizes[20],
sizes[21], sizes[22], sizes[23], sizes[24], sizes[25], sizes[26], sizes[27],
sizes[28], sizes[29], sizes[30], sizes[31], sizes[32], sizes[33], sizes[34],
sizes[35], sizes[36], sizes[37], sizes[38], sizes[39], sizes[40], sizes[41],
sizes[42], sizes[43], sizes[44], sizes[45], sizes[46], sizes[47], sizes[48],
sizes[49], sizes[50], sizes[51], sizes[52], sizes[53], sizes[54], sizes[55],
sizes[56], sizes[57], sizes[58], sizes[59], sizes[60], sizes[61], sizes[62],
sizes[63], sizes[64], sizes[65], sizes[66], sizes[67], sizes[68], sizes[69],
sizes[70], sizes[71], sizes[72], sizes[73], sizes[74], sizes[75], sizes[76]);
// read mjModel mjtSize fields
mjtSize sizes[8];
bufread(sizes, sizeof(mjtSize)*getnbuffer(), buffer_sz, buffer, &ptrbuf);
// mj_makeModel may fail if the input buffer has invalid sizes
if (!m) {
mju_warning("Invalid sizes, unable to load model");
return NULL;
}
// check mjtSize fields
if (!m || m->nbuffer != sizes[getnbuffer()-1]) {
// check buffer size (last mjtSize field is nbuffer)
if (m->nbuffer != sizes[nsize-1]) {
mju_warning("Corrupted model, wrong nbuffer field");
mj_deleteModel(m);
return NULL;
@@ -615,10 +614,9 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
// set integer fields
{
int int_idx = 0;
int size_idx = 0;
#define X(name) \
m->name = _Generic(m->name, mjtSize: sizes[size_idx++], default: ints[int_idx++]);
MJMODEL_INTS
m->name = sizes[int_idx++];
MJMODEL_SIZES
#undef X
}
@@ -675,8 +673,8 @@ void mj_deleteModel(mjModel* m) {
// size of buffer needed to hold model
mjtSize mj_sizeModel(const mjModel* m) {
mjtSize size = (
sizeof(int)*(NHEADER+getnint())
+ sizeof(mjtSize)*getnbuffer()
sizeof(int)*NHEADER
+ sizeof(mjtSize)*getnsize()
+ sizeof(mjOption)
+ sizeof(mjVisual)
+ sizeof(mjStatistic));
@@ -1832,14 +1830,14 @@ const char* mj_validateReferences(const mjModel* m) {
}
}
for (int i=0; i < m->nhfield; i++) {
int hfield_adr = m->hfield_adr[i] + m->hfield_nrow[i]*m->hfield_ncol[i];
mjtSize hfield_adr = m->hfield_adr[i] + ((mjtSize) m->hfield_nrow[i]) * m->hfield_ncol[i];
if (hfield_adr > m->nhfielddata || m->hfield_adr[i] < 0) {
return "Invalid model: hfield_adr out of bounds.";
}
}
for (int i=0; i < m->ntex; i++) {
int tex_adr = m->tex_adr[i] + m->tex_nchannel[i]*m->tex_height[i]*m->tex_width[i];
if (tex_adr > m->ntexdata || m->tex_adr[i] < 0) {
mjtSize nbytes = ((mjtSize) m->tex_nchannel[i]) * m->tex_height[i] * m->tex_width[i];
if (m->tex_adr[i] + nbytes > m->ntexdata || m->tex_adr[i] < 0) {
return "Invalid model: tex_adr out of bounds.";
}
}
src/engine/engine_io.h
+16 -12
View File
@@ -48,18 +48,22 @@ void mj_defaultStatistic(mjStatistic* stat);
// allocate mjModel
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int noct,
int njnt, int ntree, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nJfe, int nJfv,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface, int nmeshgraph,
int nmeshpoly, int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert, int nskintexvert,
int nskinface, int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
int ntexdata, int nmat, int npair, int nexclude, int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata, int ntuple, int ntupledata, int nkey,
int nmocap, int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator, int nuser_sensor,
int nnames, int npaths);
mjtSize nq, mjtSize nv, mjtSize nu, mjtSize na, mjtSize nbody, mjtSize nbvh, mjtSize nbvhstatic,
mjtSize nbvhdynamic, mjtSize noct, mjtSize njnt, mjtSize ntree, mjtSize nM, mjtSize nB,
mjtSize nC, mjtSize nD, mjtSize ngeom, mjtSize nsite, mjtSize ncam, mjtSize nlight,
mjtSize nflex, mjtSize nflexnode, mjtSize nflexvert, mjtSize nflexedge, mjtSize nflexelem,
mjtSize nflexelemdata, mjtSize nflexelemedge, mjtSize nflexshelldata, mjtSize nflexevpair,
mjtSize nflextexcoord, mjtSize nJfe, mjtSize nJfv, mjtSize nmesh, mjtSize nmeshvert,
mjtSize nmeshnormal, mjtSize nmeshtexcoord, mjtSize nmeshface, mjtSize nmeshgraph,
mjtSize nmeshpoly, mjtSize nmeshpolyvert, mjtSize nmeshpolymap, mjtSize nskin,
mjtSize nskinvert, mjtSize nskintexvert, mjtSize nskinface, mjtSize nskinbone,
mjtSize nskinbonevert, mjtSize nhfield, mjtSize nhfielddata, mjtSize ntex, mjtSize ntexdata,
mjtSize nmat, mjtSize npair, mjtSize nexclude, mjtSize neq, mjtSize ntendon, mjtSize nwrap,
mjtSize nsensor, mjtSize nnumeric, mjtSize nnumericdata, mjtSize ntext, mjtSize ntextdata,
mjtSize ntuple, mjtSize ntupledata, mjtSize nkey, mjtSize nmocap, mjtSize nplugin,
mjtSize npluginattr, mjtSize nuser_body, mjtSize nuser_jnt, mjtSize nuser_geom,
mjtSize nuser_site, mjtSize nuser_cam, mjtSize nuser_tendon, mjtSize nuser_actuator,
mjtSize nuser_sensor, mjtSize nnames, mjtSize npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
src/engine/engine_print.c
+3 -2
View File
@@ -551,7 +551,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
fprintf(fp, "\n"); \
}
MJMODEL_INTS
MJMODEL_SIZES
#undef X
fprintf(fp, "\n");
@@ -636,7 +636,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
(void)nu;
(void)nmocap;
const int* object_class;
const mjtSize* object_class;
#define X(type, name, num, sz) \
if (&m->num == object_class && sz > 0) { \
@@ -645,6 +645,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
float: float_format, \
int: INT_FORMAT, \
mjtByte: INT_FORMAT, \
mjtSize: SIZE_FORMAT, \
default: NULL); \
if (format) { \
fprintf(fp, " "); \
src/engine/engine_support.c
+2 -1
View File
@@ -14,6 +14,7 @@
#include "engine/engine_support.h"
#include <inttypes.h> // IWYU pragma: keep
#include <stddef.h>
#include <mujoco/mjdata.h>
@@ -343,7 +344,7 @@ void mj_copyState(const mjModel* m, const mjData* src, mjData* dst, int sig) {
void mj_setKeyframe(mjModel* m, const mjData* d, int k) {
// check keyframe index
if (k >= m->nkey) {
mjERROR("index must be smaller than %d (keyframes allocated in model)", m->nkey);
mjERROR("index must be smaller than %" PRId64 " (keyframes allocated in model)", m->nkey);
}
if (k < 0) {
mjERROR("keyframe index cannot be negative");