chenlin/Mujoco_WASM
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Rename a few functions and variables to be a bit more Googley.

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PiperOrigin-RevId: 523963645
Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
This commit is contained in:
Saran Tunyasuvunakool
2023-04-13 04:23:41 -07:00
committed by Copybara-Service
parent 2e23594fe8
commit 5646c905cd
5 changed files with 191 additions and 190 deletions
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simulate/main.cc
+18 -18
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@@ -233,7 +233,7 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
}
}
mju::strcpy_arr(sim.loadError, loadError);
mju::strcpy_arr(sim.load_error, loadError);
if (!mnew) {
std::printf("%s\n", loadError);
@@ -265,7 +265,7 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.dropfilename, mnew, dnew);
sim.Load(mnew, dnew, sim.dropfilename);
mj_deleteData(d);
mj_deleteModel(m);
@@ -287,7 +287,7 @@ void PhysicsLoop(mj::Simulate& sim) {
mjData* dnew = nullptr;
if (mnew) dnew = mj_makeData(mnew);
if (dnew) {
sim.load(sim.filename, mnew, dnew);
sim.Load(mnew, dnew, sim.filename);
mj_deleteData(d);
mj_deleteModel(m);
@@ -327,10 +327,10 @@ void PhysicsLoop(mj::Simulate& sim) {
double elapsedSim = d->time - syncSim;
// inject noise
if (sim.ctrlnoisestd) {
if (sim.ctrl_noise_std) {
// convert rate and scale to discrete time (Ornstein–Uhlenbeck)
mjtNum rate = mju_exp(-m->opt.timestep / mju_max(sim.ctrlnoiserate, mjMINVAL));
mjtNum scale = sim.ctrlnoisestd * mju_sqrt(1-rate*rate);
mjtNum rate = mju_exp(-m->opt.timestep / mju_max(sim.ctrl_noise_rate, mjMINVAL));
mjtNum scale = sim.ctrl_noise_std * mju_sqrt(1-rate*rate);
for (int i=0; i<m->nu; i++) {
// update noise
@@ -342,7 +342,7 @@ void PhysicsLoop(mj::Simulate& sim) {
}
// requested slow-down factor
double slowdown = 100 / sim.percentRealTime[sim.realTimeIndex];
double slowdown = 100 / sim.percentRealTime[sim.real_time_index];
// misalignment condition: distance from target sim time is bigger than syncmisalign
bool misaligned =
@@ -350,16 +350,16 @@ void PhysicsLoop(mj::Simulate& sim) {
// out-of-sync (for any reason): reset sync times, step
if (elapsedSim < 0 || elapsedCPU.count() < 0 || syncCPU.time_since_epoch().count() == 0 ||
misaligned || sim.speedChanged) {
misaligned || sim.speed_changed) {
// re-sync
syncCPU = startCPU;
syncSim = d->time;
sim.speedChanged = false;
sim.speed_changed = false;
// clear old perturbations, apply new
mju_zero(d->xfrc_applied, 6*m->nbody);
sim.applyposepertubations(0); // move mocap bodies only
sim.applyforceperturbations();
sim.ApplyPosePerturbations(0); // move mocap bodies only
sim.ApplyForcePerturbations();
// run single step, let next iteration deal with timing
mj_step(m, d);
@@ -370,22 +370,22 @@ void PhysicsLoop(mj::Simulate& sim) {
bool measured = false;
mjtNum prevSim = d->time;
double refreshTime = simRefreshFraction/sim.refreshRate;
double refreshTime = simRefreshFraction/sim.refresh_rate;
// step while sim lags behind cpu and within refreshTime
while (Seconds((d->time - syncSim)*slowdown) < mj::Simulate::Clock::now() - syncCPU &&
mj::Simulate::Clock::now() - startCPU < Seconds(refreshTime)) {
// measure slowdown before first step
if (!measured && elapsedSim) {
sim.measuredSlowdown =
sim.measured_slowdown =
std::chrono::duration<double>(elapsedCPU).count() / elapsedSim;
measured = true;
}
// clear old perturbations, apply new
mju_zero(d->xfrc_applied, 6*m->nbody);
sim.applyposepertubations(0); // move mocap bodies only
sim.applyforceperturbations();
sim.ApplyPosePerturbations(0); // move mocap bodies only
sim.ApplyForcePerturbations();
// call mj_step
mj_step(m, d);
@@ -401,7 +401,7 @@ void PhysicsLoop(mj::Simulate& sim) {
// paused
else {
// apply pose perturbation
sim.applyposepertubations(1); // move mocap and dynamic bodies
sim.ApplyPosePerturbations(1); // move mocap and dynamic bodies
// run mj_forward, to update rendering and joint sliders
mj_forward(m, d);
@@ -420,7 +420,7 @@ void PhysicsThread(mj::Simulate* sim, const char* filename) {
m = LoadModel(filename, *sim);
if (m) d = mj_makeData(m);
if (d) {
sim->load(filename, m, d);
sim->Load(m, d, filename);
mj_forward(m, d);
// allocate ctrlnoise
@@ -481,7 +481,7 @@ int main(int argc, const char** argv) {
std::thread physicsthreadhandle(&PhysicsThread, sim.get(), filename);
// start simulation UI loop (blocking call)
sim->renderloop();
sim->RenderLoop();
physicsthreadhandle.join();
return 0;