chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add edge ids to flex elements in mjModel.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+8 -2
View File
@@ -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,