Move mjSpec/mjModel/mjData management into a separate class.
PiperOrigin-RevId: 866327584 Change-Id: I72f6ec656e193f67dee22214fe01c517432f87e5
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
eb7aaa2868
commit
3e8a81383a
+22
-111
@@ -37,12 +37,12 @@
|
||||
#include "experimental/platform/helpers.h"
|
||||
#include "experimental/platform/imgui_widgets.h"
|
||||
#include "experimental/platform/interaction.h"
|
||||
#include "experimental/platform/model_holder.h"
|
||||
#include "experimental/platform/picture_gui.h"
|
||||
#include "experimental/platform/plugin.h"
|
||||
#include "experimental/platform/renderer.h"
|
||||
#include "experimental/platform/step_control.h"
|
||||
#include "experimental/platform/window.h"
|
||||
#include "user/user_resource.h"
|
||||
|
||||
namespace mujoco::studio {
|
||||
|
||||
@@ -120,20 +120,8 @@ App::App(Config config)
|
||||
}
|
||||
|
||||
void App::ClearModel() {
|
||||
if (model_) {
|
||||
mj_deleteData(data_);
|
||||
data_ = nullptr;
|
||||
mj_deleteModel(model_);
|
||||
model_ = nullptr;
|
||||
|
||||
if (spec_) {
|
||||
mj_deleteSpec(spec_);
|
||||
spec_ = nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
model_holder_.reset();
|
||||
window_->SetTitle("MuJoCo Studio");
|
||||
|
||||
step_control_.SetSpeed(100.f);
|
||||
profiler_.Clear();
|
||||
tmp_ = UiTempState();
|
||||
@@ -152,138 +140,61 @@ void App::RequestModelReload() {
|
||||
}
|
||||
|
||||
void App::InitEmptyModel() {
|
||||
mjSpec* spec = mj_makeSpec();
|
||||
mjModel* model = mj_compile(spec, nullptr);
|
||||
InitModel(model, spec, nullptr, "", kEmptyModel);
|
||||
model_holder_ = platform::ModelHolder::FromSpec(mj_makeSpec());
|
||||
OnModelLoaded("", kEmptyModel);
|
||||
}
|
||||
|
||||
void App::LoadModelFromFile(const std::string& filepath) {
|
||||
mjModel* model = nullptr;
|
||||
mjSpec* spec = nullptr;
|
||||
mjVFS vfs;
|
||||
mj_defaultVFS(&vfs);
|
||||
|
||||
const std::string resolved_file =
|
||||
platform::ResolveFile(filepath, search_paths_);
|
||||
|
||||
if (resolved_file.empty()) {
|
||||
SetLoadError("File not found: " + filepath);
|
||||
return;
|
||||
}
|
||||
|
||||
char err[1000] = "";
|
||||
if (resolved_file.ends_with(".mjb")) {
|
||||
model = mj_loadModel(resolved_file.c_str(), &vfs);
|
||||
model_holder_ = platform::ModelHolder::FromFile(resolved_file);
|
||||
if (model_holder_->ok()) {
|
||||
OnModelLoaded(filepath, kModelFromFile);
|
||||
UpdateFilePaths(resolved_file);
|
||||
window_->SetTitle("MuJoCo Studio : " + filepath);
|
||||
} else {
|
||||
spec = mj_parse(resolved_file.c_str(), nullptr, &vfs, err, sizeof(err));
|
||||
SetLoadError(std::string(model_holder_->error()));
|
||||
}
|
||||
if (err[0]) {
|
||||
SetLoadError(err);
|
||||
return;
|
||||
}
|
||||
|
||||
InitModel(model, spec, &vfs, filepath, kModelFromFile);
|
||||
UpdateFilePaths(resolved_file);
|
||||
window_->SetTitle("MuJoCo Studio : " + filepath);
|
||||
|
||||
mj_deleteVFS(&vfs);
|
||||
}
|
||||
|
||||
struct BufferProvider : public mjpResourceProvider {
|
||||
BufferProvider(std::span<const std::byte> buffer) : buffer(buffer) {
|
||||
mjp_defaultResourceProvider(this);
|
||||
open = [](mjResource* resource) {
|
||||
return 1;
|
||||
};
|
||||
read = [](mjResource* resource, const void** buffer) {
|
||||
BufferProvider* self = (BufferProvider*)resource->provider;
|
||||
*buffer = self->buffer.data();
|
||||
return static_cast<int>(self->buffer.size());
|
||||
};
|
||||
close = [](mjResource* resource) {};
|
||||
}
|
||||
std::span<const std::byte> buffer;
|
||||
};
|
||||
|
||||
void App::LoadModelFromBuffer(std::span<const std::byte> buffer,
|
||||
std::string_view content_type,
|
||||
std::string_view filename) {
|
||||
mjModel* model = nullptr;
|
||||
mjSpec* spec = nullptr;
|
||||
|
||||
mjVFS vfs;
|
||||
mj_defaultVFS(&vfs);
|
||||
|
||||
char err[1000] = "";
|
||||
if (content_type == "text/xml") {
|
||||
const char* ptr = reinterpret_cast<const char*>(buffer.data());
|
||||
spec = mj_parseXMLString(ptr, nullptr, err, sizeof(err));
|
||||
} else if (content_type == "application/mjb") {
|
||||
model = mj_loadModelBuffer(buffer.data(), buffer.size());
|
||||
} else if (content_type == "application/zip") {
|
||||
BufferProvider provider(buffer);
|
||||
mjResource resource;
|
||||
memset(&resource, 0, sizeof(mjResource));
|
||||
resource.vfs = &vfs;
|
||||
resource.provider = &provider;
|
||||
resource.name = (char*)filename.data();
|
||||
spec = mju_decodeResource(&resource, content_type.data(), &vfs);
|
||||
model_holder_ =
|
||||
platform::ModelHolder::FromBuffer(buffer, content_type, filename);
|
||||
if (model_holder_->ok()) {
|
||||
OnModelLoaded(std::string(filename), kModelFromFile);
|
||||
} else {
|
||||
SetLoadError("Unknown content type; expected text/xml or application/mjb");
|
||||
return;
|
||||
SetLoadError(std::string(model_holder_->error()));
|
||||
}
|
||||
if (err[0]) {
|
||||
SetLoadError(err);
|
||||
return;
|
||||
}
|
||||
|
||||
InitModel(model, spec, &vfs, std::string(filename), kModelFromBuffer);
|
||||
|
||||
mj_deleteVFS(&vfs);
|
||||
}
|
||||
|
||||
void App::InitModel(mjModel* model, mjSpec* spec, mjVFS* vfs,
|
||||
std::string filename, ModelKind model_kind) {
|
||||
void App::OnModelLoaded(std::string filename, ModelKind model_kind) {
|
||||
model_path_ = std::move(filename);
|
||||
|
||||
if (model_kind_ == kEmptyModel) {
|
||||
step_control_.Unpause();
|
||||
}
|
||||
ClearModel();
|
||||
|
||||
model_path_ = std::move(filename);
|
||||
model_kind_ = model_kind;
|
||||
if (model_kind_ == kEmptyModel) {
|
||||
step_control_.Pause();
|
||||
}
|
||||
|
||||
spec_ = spec;
|
||||
model_ = model;
|
||||
|
||||
// If we have a spec but not a model, we need to compile the model from the spec.
|
||||
if (spec_ && !model_) {
|
||||
model_ = mj_compile(spec_, vfs);
|
||||
if (!model_) {
|
||||
SetLoadError("Error compiling model from spec.");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (!model_) {
|
||||
mju_error("Error making data for model: %s", model_path_.c_str());
|
||||
}
|
||||
|
||||
data_ = mj_makeData(model_);
|
||||
if (!data_) {
|
||||
mju_error("Error making data for model: %s", model_path_.c_str());
|
||||
}
|
||||
|
||||
// Reset/reinitialize everything that depends on the new mjModel.
|
||||
renderer_->Init(model_);
|
||||
const int state_size = mj_stateSize(model_, mjSTATE_INTEGRATION);
|
||||
mjModel* model = model_holder_->model();
|
||||
renderer_->Init(model);
|
||||
const int state_size = mj_stateSize(model, mjSTATE_INTEGRATION);
|
||||
history_.Init(state_size);
|
||||
|
||||
// Initialize the speed based on the model's default real-time setting.
|
||||
float min_error = FLT_MAX;
|
||||
const float desired = mju_log(100 * model_->vis.global.realtime);
|
||||
const float desired = mju_log(100 * model->vis.global.realtime);
|
||||
for (int i = 0; i < kPercentRealTime.size(); ++i) {
|
||||
const float speed = std::stof(kPercentRealTime[i]);
|
||||
const float error = mju_abs(mju_log(speed) - desired);
|
||||
|
||||
@@ -27,6 +27,7 @@
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "experimental/platform/gui.h"
|
||||
#include "experimental/platform/interaction.h"
|
||||
#include "experimental/platform/model_holder.h"
|
||||
#include "experimental/platform/picture_gui.h"
|
||||
#include "experimental/platform/renderer.h"
|
||||
#include "experimental/platform/sim_history.h"
|
||||
@@ -168,8 +169,7 @@ class App {
|
||||
|
||||
// Updates the currently loaded model to the given model. If model is null,
|
||||
// then compile the spec to a model.
|
||||
void InitModel(mjModel* model, mjSpec* spec, mjVFS* vfs, std::string filename,
|
||||
ModelKind model_kind);
|
||||
void OnModelLoaded(std::string filename, ModelKind model_kind);
|
||||
|
||||
void SetLoadError(std::string error);
|
||||
void UpdateFilePaths(const std::string& resolved_path);
|
||||
@@ -207,12 +207,13 @@ class App {
|
||||
float GetExpectedLabelWidth();
|
||||
std::vector<const char*> GetCameraNames();
|
||||
|
||||
mjSpec* spec() { return spec_; }
|
||||
mjModel* model() { return model_; }
|
||||
mjData* data() { return data_; }
|
||||
bool has_spec() const { return spec_ != nullptr; }
|
||||
bool has_model() const { return model_ != nullptr; }
|
||||
bool has_data() const { return data_ != nullptr; }
|
||||
mjSpec* spec() { return model_holder_->spec(); }
|
||||
mjModel* model() { return model_holder_->model(); }
|
||||
mjData* data() { return model_holder_->data(); }
|
||||
bool has_spec() const { return model_holder_ && model_holder_->spec(); }
|
||||
bool has_model() const { return model_holder_ && model_holder_->model(); }
|
||||
bool has_data() const { return model_holder_ && model_holder_->data(); }
|
||||
|
||||
|
||||
std::string ini_path_;
|
||||
std::string model_name_; // Used if model_kind_ is kModelFromBuffer.
|
||||
@@ -224,15 +225,11 @@ class App {
|
||||
|
||||
std::unique_ptr<platform::Window> window_;
|
||||
std::unique_ptr<platform::Renderer> renderer_;
|
||||
std::unique_ptr<platform::ModelHolder> model_holder_;
|
||||
platform::StepControl step_control_;
|
||||
platform::SimProfiler profiler_;
|
||||
platform::SimHistory history_;
|
||||
|
||||
std::vector<std::string> search_paths_;
|
||||
|
||||
mjSpec* spec_ = nullptr;
|
||||
mjModel* model_ = nullptr;
|
||||
mjData* data_ = nullptr;
|
||||
std::vector<std::byte> pixels_;
|
||||
|
||||
mjvCamera camera_;
|
||||
|
||||
Reference in New Issue
Block a user