Restructure mjCMesh for caching.

PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f

src/user/user_flexcomp.cc

@@ -932,13 +932,13 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   // LoadOBJ uses userXXX, extra processing needed
   if (isobj) {
     // check sizes
-    if (mesh.vert_.empty() || mesh.face_.empty()) {
+    if (mesh.Vert().empty() || mesh.Face().empty()) {
       return comperr(error, "Vertex and face data required", error_sz);
     }
-    if (mesh.vert_.size()%3) {
+    if (mesh.Vert().size()%3) {
       return comperr(error, "Vertex data must be multiple of 3", error_sz);
     }
-    if (mesh.face_.size()%3) {
+    if (mesh.Face().size()%3) {
       return comperr(error, "Face data must be multiple of 3", error_sz);
     }
 
@@ -947,12 +947,12 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   }
 
   // copy faces
-  element = mesh.face_;
+  element = mesh.Face();
 
   // copy vertices, convert from float to double
   point = vector<double> (mesh.nvert()*3);
   for (int i=0; i < mesh.nvert()*3; i++) {
-    point[i] = (double) mesh.vert_[i];
+    point[i] = (double) mesh.Vert(i);
   }
 
   return true;

src/user/user_mesh.cc

@@ -22,6 +22,7 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <string_view>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -249,12 +250,6 @@ mjCMesh::~mjCMesh() {
 
 
 
-void mjCMesh::set_needhull(bool needhull) {
-  needhull_ = needhull;
-}
-
-
-
 // generate mesh using marching cubes
 void mjCMesh::LoadSDF() {
   if (plugin_name.empty() && plugin_instance_name.empty()) {
@@ -338,8 +333,10 @@ void mjCMesh::LoadSDF() {
   delete[] field;
 }
 
-void mjCMesh::CacheOBJ(mjCCache* cache, const mjResource* resource) {
+void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource,
+                        std::string_view asset_type) {
   if (cache == nullptr) return;
+  if (asset_type != "model/obj") return;  // only OBJ files are cached
 
   // cache mesh data into new mesh object
   mjCMesh *mesh =  new mjCMesh();
@@ -379,6 +376,8 @@ void mjCMesh::Compile(const mjVFS* vfs) {
   CopyFromSpec();
   visual_ = true;
   std::string asset_type = GetAssetContentType(file_, content_type_);
+  mjResource* resource = nullptr;
+  mjCCache *cache = reinterpret_cast<mjCCache*>(mj_globalCache());
 
   // load file
   if (!file_.empty()) {
@@ -404,25 +403,30 @@ void mjCMesh::Compile(const mjVFS* vfs) {
     }
 
     std::string filename = mjuu_combinePaths(model->meshdir_, file_);
-    mjResource* resource = LoadResource(model->modelfiledir_, filename, vfs);
+    resource = LoadResource(model->modelfiledir_, filename, vfs);
 
-    try {
+    // try loading from cache
-      if (asset_type == "model/stl") {
+    if (cache != nullptr && LoadCachedMesh(cache, resource)) {
-        LoadSTL(resource);
+      mju_closeResource(resource);
-      } else if (asset_type == "model/obj") {
+      resource = nullptr;
-        // try loading from cache
+    }
-        mjCCache *cache = reinterpret_cast<mjCCache*>(mj_globalCache());
+
-        if (!cache || !LoadCachedOBJ(cache, resource)) {
+    if (resource != nullptr) {
+      try {
+        if (asset_type == "model/stl") {
+          LoadSTL(resource);
+        } else if (asset_type == "model/obj"){
           LoadOBJ(resource);
-          CacheOBJ(cache, resource);
+        } else {
+          LoadMSH(resource);
         }
-      } else {
+      } catch (mjCError err) {
-        LoadMSH(resource);
+        mju_closeResource(resource);
+        throw err;
       }
+
+      CacheMesh(cache, resource, asset_type);
       mju_closeResource(resource);
-    } catch (mjCError err) {
-      mju_closeResource(resource);
-      throw err;
     }
 
     // check repeated mesh data
@@ -456,19 +460,16 @@ void mjCMesh::Compile(const mjVFS* vfs) {
     } else if (facetexcoord_.empty()) {
       facetexcoord_ = spec_facetexcoord_;
     }
-  }
+  } else if (plugin.active) {
-
+    LoadSDF();  // create using marching cubes
-  // create using marching cubes
-  else if (plugin.active) {
-    LoadSDF();
   }
 
   // check sizes
-  if (vert_.size()<12) throw mjCError(this, "at least 4 vertices required");
+  if (vert_.size() < 12) throw mjCError(this, "at least 4 vertices required");
-  if (vert_.size()%3) throw mjCError(this, "vertex data must be a multiple of 3");
+  if (vert_.size() % 3) throw mjCError(this, "vertex data must be a multiple of 3");
-  if (normal_.size()%3) throw mjCError(this, "normal data must be a multiple of 3");
+  if (normal_.size() % 3) throw mjCError(this, "normal data must be a multiple of 3");
-  if (texcoord_.size()%2) throw mjCError(this, "texcoord must be a multiple of 2");
+  if (texcoord_.size() % 2) throw mjCError(this, "texcoord must be a multiple of 2");
-  if (face_.size()%3) throw mjCError(this, "face data must be a multiple of 3");
+  if (face_.size() % 3) throw mjCError(this, "face data must be a multiple of 3");
 
   // check texcoord size if no face texcoord indices are given
   if (!texcoord_.empty() && texcoord_.size() != 2 * nvert() &&
@@ -981,7 +982,7 @@ void mjCMesh::LoadOBJ(mjResource* resource) {
 
 
 // load OBJ from cached asset, return true on success
-bool mjCMesh::LoadCachedOBJ(mjCCache *cache, const mjResource* resource) {
+bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
   // check that asset has all data
   if (!cache->PopulateData(resource, [&](const void* data) {
     const mjCMesh* mesh = static_cast<const mjCMesh*>(data);

src/user/user_model.cc

@@ -1310,7 +1310,7 @@ void mjCModel::SetDefaultNames(std::vector<T*>& assets) {
   for (int i=0; i<assets.size(); i++) {
     assets[i]->CopyFromSpec();
     if (assets[i]->name.empty()) {
-      stripped = mjuu_strippath(assets[i]->get_file());
+      stripped = mjuu_strippath(assets[i]->File());
       assets[i]->name = mjuu_stripext(stripped);
       names[assets[i]->name].push_back(i);
     }
@@ -1365,8 +1365,8 @@ template <typename T>
 static size_t getpathslength(std::vector<T> list) {
   size_t result = 0;
   for (const auto& element : list) {
-    if (!element->get_file().empty()) {
+    if (!element->File().empty()) {
-      result += element->get_file().length() + 1;
+      result += element->File().length() + 1;
     }
   }
 
@@ -1827,10 +1827,10 @@ template <class T>
 static int pathlist(vector<T*>& list, int adr, int* path_adr, char* paths) {
   for (unsigned int i = 0; i < list.size(); ++i) {
     path_adr[i] = -1;
-    if (!list[i] || list[i]->get_file().empty()) {
+    if (!list[i] || list[i]->File().empty()) {
       continue;
     }
-    adr = addtolist(list[i]->get_file(), adr, &path_adr[i], paths);
+    adr = addtolist(list[i]->File(), adr, &path_adr[i], paths);
   }
 
   return adr;
@@ -2310,7 +2310,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
     m->mesh_bvhnum[i] = pme->tree().Nbvh();
     m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
-    mjuu_copyvec(&m->mesh_scale[3 * i], pme->get_scale(), 3);
+    mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
     mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
     mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
 
@@ -3466,7 +3466,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
     if (geoms_[i]->mesh &&
         (geoms_[i]->spec.type==mjGEOM_MESH || geoms_[i]->spec.type==mjGEOM_SDF) &&
         (geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity)) {
-      geoms_[i]->mesh->set_needhull(true);
+      geoms_[i]->mesh->SetNeedHull(true);
     }
   }
 

src/user/user_objects.h

@@ -788,9 +788,6 @@ class mjCMesh_ : public mjCBase {
 };
 
 class mjCMesh: public mjCMesh_, private mjsMesh {
-  friend class mjCModel;
-  friend class mjCFlexcomp;
-  friend class mjXWriter;
  public:
   mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
   mjCMesh(const mjCMesh& other);
@@ -804,20 +801,24 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   void CopyFromSpec(void);
   void PointToLocal(void);
 
-  // public getters and setters
+  // accessors
-  const std::string& get_content_type() const { return content_type_; }
+  const mjsPlugin& Plugin() const { return plugin; }
-  const std::string& get_file() const { return file_; }
+  const std::string& ContentType() const { return content_type_; }
-  const double* get_refpos() const { return refpos; }
+  const std::string& File() const { return file_; }
-  const double* get_refquat() const { return refquat; }
+  const double* Refpos() const { return refpos; }
-  const double* get_scale() const { return scale; }
+  const double* Refquat() const { return refquat; }
-  bool get_smoothnormal() const { return smoothnormal; }
+  const double* Scale() const { return scale; }
-  void set_needhull(bool needhull);
+  bool SmoothNormal() const { return smoothnormal; }
+  const std::vector<float>& Vert() const { return vert_; }
+  float Vert(int i) const { return vert_[i]; }
+  const std::vector<float>& UserVert() const { return spec_vert_; }
+  const std::vector<float>& UserNormal() const { return spec_normal_; }
+  const std::vector<float>& UserTexcoord() const { return spec_texcoord_; }
+  const std::vector<int>& Face() const { return face_; }
+  const std::vector<int>& UserFace() const { return spec_face_; }
 
-  // public getters for user data
+  // setters
-  const std::vector<float>& get_uservert() const { return spec_vert_; }
+  void SetNeedHull(bool needhull) { needhull_ = needhull; }
-  const std::vector<float>& get_usernormal() const { return spec_normal_; }
-  const std::vector<float>& get_usertexcoord() const { return spec_texcoord_; }
-  const std::vector<int>& get_userface() const { return spec_face_; }
 
   // mesh properties computed by Compile
   const double* aamm() const { return aamm_; }
@@ -858,23 +859,27 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   // sets properties of a bounding volume given a face id
   void SetBoundingVolume(int faceid);
 
+  void LoadOBJ(mjResource* resource);  // load mesh in wavefront OBJ format
+  void LoadSTL(mjResource* resource);  // load mesh in STL BIN format
+  void LoadMSH(mjResource* resource);  // load mesh in MSH BIN format
+
+  void RemoveRepeated();               // remove repeated vertices
+
  private:
-  void LoadOBJ(mjResource* resource);         // load mesh in wavefront OBJ format
+  // load mesh from cache asset, return true on success (OBJ files are only supported)
-  // load OBJ from cache asset, return true on success
+  bool LoadCachedMesh(mjCCache *cache, const mjResource* resource);
-  bool LoadCachedOBJ(mjCCache *cache, const mjResource* resource);
+  // store mesh into asset cache (OBJ files are only supported)
-  // put OBJ into asset cache
+  void CacheMesh(mjCCache *cache, const mjResource* resource,
-  void CacheOBJ(mjCCache *cache, const mjResource* resource);
+                 std::string_view asset_type);
-  void LoadSTL(mjResource* resource);         // load mesh in STL BIN format
+
-  void LoadMSH(mjResource* resource);         // load mesh in MSH BIN format
   void LoadSDF();                             // generate mesh using marching cubes
-  void MakeGraph(void);                       // make graph of convex hull
+  void MakeGraph();                           // make graph of convex hull
-  void CopyGraph(void);                       // copy graph into face data
+  void CopyGraph();                           // copy graph into face data
-  void MakeNormal(void);                      // compute vertex normals
+  void MakeNormal();                          // compute vertex normals
-  void MakeCenter(void);                      // compute face circumcircle data
+  void MakeCenter();                          // compute face circumcircle data
   void Process();                             // compute inertial properties
   void ApplyTransformations();                // apply user transformations
   void ComputeFaceCentroid(double[3]);        // compute centroid of all faces
-  void RemoveRepeated(void);                  // remove repeated vertices
   void CheckMesh(mjtGeomInertia type);        // check if the mesh is valid
 
   // mesh data to be copied into mjModel
@@ -940,7 +945,7 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
   using mjCBase::name;
   using mjCBase::info;
 
-  const std::string& get_file() const { return file_; }
+  const std::string& File() const { return file_; }
   const std::string& get_material() const { return material_; }
   const std::vector<float>& get_vert() const { return vert_; }
   const std::vector<float>& get_texcoord() const { return texcoord_; }
@@ -997,7 +1002,7 @@ class mjCHField : public mjCHField_, private mjsHField {
   void CopyFromSpec(void);
   void PointToLocal(void);
 
-  std::string get_file() const { return file_; }
+  std::string File() const { return file_; }
 
   // getter for user data
   std::vector<float>& get_userdata() { return userdata_; }
@@ -1044,7 +1049,7 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
   void CopyFromSpec(void);
   void PointToLocal(void);
 
-  std::string get_file() const { return file_; }
+  std::string File() const { return file_; }
   std::string get_content_type() const { return content_type_; }
   std::vector<std::string> get_cubefiles() const { return cubefiles_; }
 
@@ -1194,13 +1199,12 @@ class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
   std::string get_bodyname1() const { return bodyname1_; }
   std::string get_bodyname2() const { return bodyname2_; }
 
-  int GetSignature(void) {
+  int GetSignature() {
     return signature;
   }
 
  private:
-
+  void Compile();              // compiler
-  void Compile(void);              // compiler
 };
 
 

src/xml/xml_native_writer.cc

@@ -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, "content_type", pmesh->ContentType());
-    WriteAttrTxt(elem, "file", pmesh->get_file());
+    WriteAttrTxt(elem, "file", pmesh->File());
 
     // write vertex data
-    if (!pmesh->get_uservert().empty()) {
+    if (!pmesh->UserVert().empty()) {
-      text = VectorToString(pmesh->get_uservert());
+      text = VectorToString(pmesh->UserVert());
       WriteAttrTxt(elem, "vertex", text);
     }
 
     // write normal data
-    if (!pmesh->get_usernormal().empty()) {
+    if (!pmesh->UserNormal().empty()) {
-      text = VectorToString(pmesh->get_usernormal());
+      text = VectorToString(pmesh->UserNormal());
       WriteAttrTxt(elem, "normal", text);
     }
 
     // write texcoord data
-    if (!pmesh->get_usertexcoord().empty()) {
+    if (!pmesh->UserTexcoord().empty()) {
-      text = VectorToString(pmesh->get_usertexcoord());
+      text = VectorToString(pmesh->UserTexcoord());
       WriteAttrTxt(elem, "texcoord", text);
     }
 
     // write face data
-    if (!pmesh->get_userface().empty()) {
+    if (!pmesh->UserFace().empty()) {
-      text = VectorToString(pmesh->get_userface());
+      text = VectorToString(pmesh->UserFace());
       WriteAttrTxt(elem, "face", text);
     }
   }
 
   // defaults and regular
-  WriteAttr(elem, "refpos", 3, pmesh->refpos, def->Mesh().refpos);
+  WriteAttr(elem, "refpos", 3, pmesh->Refpos(), def->Mesh().Refpos());
-  WriteAttr(elem, "refquat", 4, pmesh->refquat, def->Mesh().refquat);
+  WriteAttr(elem, "refquat", 4, pmesh->Refquat(), def->Mesh().Refquat());
-  WriteAttr(elem, "scale", 3, pmesh->scale, def->Mesh().scale);
+  WriteAttr(elem, "scale", 3, pmesh->Scale(), def->Mesh().Scale());
-  WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->get_smoothnormal(),
+  WriteAttrKey(elem, "smoothnormal", bool_map, 2, pmesh->SmoothNormal(),
-               def->Mesh().get_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);
       }