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Add edge ids to flex elements in mjModel.

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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
This commit is contained in:
Alessio Quaglino
2024-09-16 06:56:09 -07:00
committed by Copybara-Service
parent 9d73211757
commit 31abd7900a
18 changed files with 84 additions and 131 deletions
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src/engine/engine_io.c
+6 -3
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@@ -461,7 +461,7 @@ void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
@@ -507,6 +507,7 @@ void mj_makeModel(mjModel** dest,
m->nflexedge = nflexedge;
m->nflexelem = nflexelem;
m->nflexelemdata = nflexelemdata;
m->nflexelemedge = nflexelemedge;
m->nflexshelldata = nflexshelldata;
m->nflexevpair = nflexevpair;
m->nflextexcoord = nflextexcoord;
@@ -634,7 +635,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexshelldata,
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
@@ -795,7 +796,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
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[63], ints[64]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);
@@ -2097,9 +2098,11 @@ const char* mj_validateReferences(const mjModel* m) {
X(flex_evpairadr, nflex, nflexevpair , m->flex_evpairnum ) \
X(flex_texcoordadr, nflex, nflextexcoord , 0 ) \
X(flex_elemdataadr, nflex, nflexelemdata , 0 ) \
X(flex_elemedgeadr, nflex, nflexelemedge , 0 ) \
X(flex_shelldataadr, nflex, nflexshelldata, 0 ) \
X(flex_edge, nflexedge*2, nflexvert , 0 ) \
X(flex_elem, nflexelemdata, nflexvert , 0 ) \
X(flex_elemedge, nflexelemedge, nflexedge , 0 ) \
X(flex_shell, nflexshelldata, nflexvert , 0 ) \
X(flex_bvhadr, nflex, nbvh , m->flex_bvhnum ) \
X(skin_matid, nskin, nmat , 0 ) \
src/engine/engine_io.h
+4 -4
View File
@@ -54,10 +54,10 @@ void mj_defaultStatistic(mjStatistic* stat);
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair,
int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
int nmeshtexcoord, int nmeshface, int nmeshgraph, 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,
src/user/user_mesh.cc
+4 -5
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@@ -2386,7 +2386,6 @@ struct PairHash
};
// simplex connectivity
constexpr int kNumEdges[3] = {1, 3, 6};
constexpr int eledge[3][6][2] = {{{ 0, 1}, {-1, -1}, {-1, -1},
{-1, -1}, {-1, -1}, {-1, -1}},
{{ 1, 2}, { 2, 0}, { 0, 1},
@@ -2637,7 +2636,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// create edges
std::vector<int> edgeidx(elem_.size()*kNumEdges[dim-1]);
edgeidx_.assign(elem_.size()*kNumEdges[dim-1]/(dim+1), 0);
// map from edge vertices to their index in `edges` vector
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
@@ -2656,9 +2655,9 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (inserted) {
edge.push_back(pair);
edgeidx[f*kNumEdges[dim-1]+e] = nedge++;
edgeidx_[f*kNumEdges[dim-1]+e] = nedge++;
} else {
edgeidx[f*kNumEdges[dim-1]+e] = it->second;
edgeidx_[f*kNumEdges[dim-1]+e] = it->second;
}
}
}
@@ -2669,7 +2668,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
// add plugins
std::string userface, useredge;
userface = VectorToString(elem_);
useredge = VectorToString(edgeidx);
useredge = VectorToString(edgeidx_);
for (const auto& vbodyid : vertbodyid) {
if (model->Bodies()[vbodyid]->plugin.instance) {
src/user/user_model.cc
+8 -2
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@@ -654,6 +654,7 @@ void mjCModel::Clear() {
nflexedge = 0;
nflexelem = 0;
nflexelemdata = 0;
nflexelemedge = 0;
nflexshelldata = 0;
nflexevpair = 0;
nflextexcoord = 0;
@@ -1545,6 +1546,7 @@ void mjCModel::SetSizes() {
nflexedge += flexes_[i]->nedge;
nflexelem += flexes_[i]->nelem;
nflexelemdata += flexes_[i]->nelem * (flexes_[i]->dim + 1);
nflexelemedge += flexes_[i]->nelem * mjCFlex::kNumEdges[flexes_[i]->dim - 1];
nflexshelldata += (int)flexes_[i]->shell.size();
nflexevpair += (int)flexes_[i]->evpair.size()/2;
}
@@ -2409,7 +2411,7 @@ void mjCModel::CopyTree(mjModel* m) {
// copy objects outside kinematic tree
void mjCModel::CopyObjects(mjModel* m) {
int adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
int edge_adr, elem_adr, elemdata_adr, shelldata_adr, evpair_adr;
int edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
int bonevert_adr, graph_adr, data_adr, bvh_adr;
// sizes outside call to mj_makeModel
@@ -2491,6 +2493,7 @@ void mjCModel::CopyObjects(mjModel* m) {
edge_adr = 0;
elem_adr = 0;
elemdata_adr = 0;
elemedge_adr = 0;
shelldata_adr = 0;
evpair_adr = 0;
texcoord_adr = 0;
@@ -2526,6 +2529,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->flex_edgenum[i] = pfl->nedge;
m->flex_elemadr[i] = elem_adr;
m->flex_elemdataadr[i] = elemdata_adr;
m->flex_elemedgeadr[i] = elemedge_adr;
m->flex_shellnum[i] = (int)pfl->shell.size()/pfl->dim;
m->flex_shelldataadr[i] = m->flex_shellnum[i] ? shelldata_adr : -1;
if (pfl->evpair.empty()) {
@@ -2545,6 +2549,7 @@ void mjCModel::CopyObjects(mjModel* m) {
}
m->flex_elemnum[i] = pfl->nelem;
memcpy(m->flex_elem + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));
memcpy(m->flex_elemedge + elemedge_adr, pfl->edgeidx_.data(), pfl->edgeidx_.size()*sizeof(int));
memcpy(m->flex_elemlayer + elem_adr, pfl->elemlayer.data(), pfl->nelem*sizeof(int));
if (m->flex_shellnum[i]) {
memcpy(m->flex_shell + shelldata_adr, pfl->shell.data(), pfl->shell.size()*sizeof(int));
@@ -2616,6 +2621,7 @@ void mjCModel::CopyObjects(mjModel* m) {
edge_adr += pfl->nedge;
elem_adr += pfl->nelem;
elemdata_adr += (pfl->dim+1) * pfl->nelem;
elemedge_adr += (pfl->kNumEdges[pfl->dim-1]) * pfl->nelem;
shelldata_adr += (int)pfl->shell.size();
evpair_adr += (int)pfl->evpair.size()/2;
texcoord_adr += (int)pfl->texcoord_.size()/2;
@@ -3897,7 +3903,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexshelldata, nflexevpair, nflextexcoord,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
src/user/user_model.h
+1
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@@ -90,6 +90,7 @@ class mjCModel_ : public mjsElement {
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexelemedge; // number of element edges in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes
src/user/user_objects.h
+3
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@@ -694,6 +694,7 @@ class mjCFlex_ : public mjCBase {
std::vector<double> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::vector<double> elemaabb_; // element bounding volume
std::vector<int> edgeidx_; // element edge ids
// variable-size data
std::vector<std::string> vertbody_; // vertex body names
@@ -741,6 +742,8 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord
static constexpr int kNumEdges[3] = {1, 3, 6}; // number of edges per element indexed by dim
private:
void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH