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Restructure mjCMesh for caching.

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PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
This commit is contained in:
Kyle Bayes
2024-08-13 06:39:49 -07:00
committed by Copybara-Service
parent 4ebf381b4d
commit 39896f8064
5 changed files with 114 additions and 111 deletions
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src/xml/xml_native_writer.cc
+31 -33
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@@ -39,8 +39,6 @@
namespace {
using std::size_t;
using std::string;
using tinyxml2::XMLComment;
using tinyxml2::XMLDocument;
using tinyxml2::XMLElement;
@@ -64,7 +62,7 @@ class mj_XMLPrinter : public tinyxml2::XMLPrinter {
// save XML file using custom 2-space indentation
static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
static std::string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
doc.ClearError();
mj_XMLPrinter stream(nullptr, /*compact=*/false);
doc.Print(&stream);
@@ -72,7 +70,7 @@ static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
mjCopyError(error, doc.ErrorStr(), error_sz);
return "";
}
std::string str = string(stream.CStr());
std::string str = std::string(stream.CStr());
// top level sections
std::array<std::string, 17> sections = {
@@ -86,10 +84,10 @@ static string WriteDoc(XMLDocument& doc, char *error, size_t error_sz) {
// insert newlines before section headers
for (const std::string& section : sections) {
size_t pos = 0;
std::size_t pos = 0;
while ((pos = str.find(section, pos)) != std::string::npos) {
// find newline before this section
size_t line_pos = str.rfind('\n', pos);
std::size_t line_pos = str.rfind('\n', pos);
// save position of first section
if (line_pos < first_pos) first_pos = line_pos;
@@ -127,7 +125,7 @@ XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
// write flex
void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* pflex) {
string text;
std::string text;
mjCFlex defflex;
// common attributes
@@ -195,7 +193,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* pflex) {
// write mesh
void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
string text;
std::string text;
// regular
if (!writingdefaults) {
@@ -203,60 +201,60 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* pmesh, mjCDef* def) {
if (pmesh->classname != "main") {
WriteAttrTxt(elem, "class", pmesh->classname);
}
WriteAttrTxt(elem, "content_type", pmesh->get_content_type());
WriteAttrTxt(elem, "file", pmesh->get_file());
WriteAttrTxt(elem, "content_type", pmesh->ContentType());
WriteAttrTxt(elem, "file", pmesh->File());
// write vertex data
if (!pmesh->get_uservert().empty()) {
text = VectorToString(pmesh->get_uservert());
if (!pmesh->UserVert().empty()) {
text = VectorToString(pmesh->UserVert());
WriteAttrTxt(elem, "vertex", text);
}
// write normal data
if (!pmesh->get_usernormal().empty()) {
text = VectorToString(pmesh->get_usernormal());
if (!pmesh->UserNormal().empty()) {
text = VectorToString(pmesh->UserNormal());
WriteAttrTxt(elem, "normal", text);
}
// write texcoord data
if (!pmesh->get_usertexcoord().empty()) {
text = VectorToString(pmesh->get_usertexcoord());
if (!pmesh->UserTexcoord().empty()) {
text = VectorToString(pmesh->UserTexcoord());
WriteAttrTxt(elem, "texcoord", text);
}
// write face data
if (!pmesh->get_userface().empty()) {
text = VectorToString(pmesh->get_userface());
if (!pmesh->UserFace().empty()) {
text = VectorToString(pmesh->UserFace());
WriteAttrTxt(elem, "face", text);
}
}
// defaults and regular
WriteAttr(elem, "refpos", 3, pmesh->refpos, def->Mesh().refpos);
WriteAttr(elem, "refquat", 4, pmesh->refquat, def->Mesh().refquat);
WriteAttr(elem, "scale", 3, pmesh->scale, def->Mesh().scale);
WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->get_smoothnormal(),
def->Mesh().get_smoothnormal());
WriteAttr(elem, "refpos", 3, pmesh->Refpos(), def->Mesh().Refpos());
WriteAttr(elem, "refquat", 4, pmesh->Refquat(), def->Mesh().Refquat());
WriteAttr(elem, "scale", 3, pmesh->Scale(), def->Mesh().Scale());
WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->SmoothNormal(),
def->Mesh().SmoothNormal());
}
// write skin
void mjXWriter::OneSkin(XMLElement* elem, const mjCSkin* pskin) {
string text;
std::string text;
mjCDef mydef;
float zero = 0;
// write attributes
WriteAttrTxt(elem, "name", pskin->name);
WriteAttrTxt(elem, "file", pskin->get_file());
WriteAttrTxt(elem, "file", pskin->File());
WriteAttrTxt(elem, "material", pskin->get_material());
WriteAttrInt(elem, "group", pskin->group, 0);
WriteAttr(elem, "rgba", 4, pskin->rgba, mydef.Geom().rgba);
WriteAttr(elem, "inflate", 1, &pskin->inflate, &zero);
// write data if no file
if (pskin->get_file().empty()) {
if (pskin->File().empty()) {
// mesh vert
text = VectorToString(pskin->get_vert());
WriteAttrTxt(elem, "vertex", text);
@@ -846,7 +844,7 @@ void mjXWriter::SetModel(const mjSpec* spec) {
// save existing model in MJCF canonical format, must be compiled
string mjXWriter::Write(char *error, size_t error_sz) {
std::string mjXWriter::Write(char *error, size_t error_sz) {
// check model
if (!model || !model->IsCompiled()) {
mjCopyError(error, "XML Write error: Only compiled model can be written", error_sz);
@@ -862,7 +860,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
doc.InsertFirstChild(root);
// write comment if present
string text = mjs_getString(model->comment);
std::string text = mjs_getString(model->comment);
if (!text.empty()) {
XMLComment* comment = doc.NewComment(text.c_str());
root->LinkEndChild(comment);
@@ -1456,7 +1454,7 @@ void mjXWriter::Asset(XMLElement* root) {
else if (ptex->get_cubefiles()[0].empty() && ptex->get_cubefiles()[1].empty() &&
ptex->get_cubefiles()[2].empty() && ptex->get_cubefiles()[3].empty() &&
ptex->get_cubefiles()[4].empty() && ptex->get_cubefiles()[5].empty() &&
ptex->get_file().empty() && ptex->gridsize[0] == 1 && ptex->gridsize[1] == 1) {
ptex->File().empty() && ptex->gridsize[0] == 1 && ptex->gridsize[1] == 1) {
throw mjXError(0, "no support for buffer textures.");
}
@@ -1464,7 +1462,7 @@ void mjXWriter::Asset(XMLElement* root) {
else {
// write single file
WriteAttrTxt(elem, "content_type", ptex->get_content_type());
WriteAttrTxt(elem, "file", ptex->get_file());
WriteAttrTxt(elem, "file", ptex->File());
// write separate files
WriteAttrTxt(elem, "fileright", ptex->get_cubefiles()[0]);
@@ -1501,10 +1499,10 @@ void mjXWriter::Asset(XMLElement* root) {
for (int i=0; i<nmesh; i++) {
// create element and write
mjCMesh* pmesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
if (pmesh->plugin.active) {
if (pmesh->Plugin().active) {
elem = InsertEnd(section, "mesh");
WriteAttrTxt(elem, "name", pmesh->name);
OnePlugin(InsertEnd(elem, "plugin"), &pmesh->plugin);
OnePlugin(InsertEnd(elem, "plugin"), &pmesh->Plugin());
} else{
elem = InsertEnd(section, "mesh");
OneMesh(elem, pmesh, model->def_map[pmesh->classname]);
@@ -1527,7 +1525,7 @@ void mjXWriter::Asset(XMLElement* root) {
WriteAttrInt(elem, "nrow", phf->nrow);
WriteAttrInt(elem, "ncol", phf->ncol);
if (!phf->get_userdata().empty()) {
string text;
std::string text;
Vector2String(text, phf->get_userdata(), phf->ncol);
WriteAttrTxt(elem, "elevation", text);
}