Re-implement VFS internals in C++, removing the constraints of the previous implementation.
PiperOrigin-RevId: 649433087 Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
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Kyle Bayes
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Copybara-Service
Copybara-Service
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@@ -414,12 +414,6 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
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- 50
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- The maximum depth of each body and mesh bounding volume hierarchy. If this large limit is exceeded, a warning
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is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
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* - ``mjMAXVFS``
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- 200
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- The maximal number of characters in the name of each file in the virtual file system.
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* - ``mjMAXVFSNAME``
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- 100
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- The maximal number of characters in the name of each file in the virtual file system.
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* - ``mjNEQDATA``
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- 11
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- The maximal number of real-valued parameters used to define each equality constraint. Determines the size of
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+22
-19
@@ -10,11 +10,12 @@ General
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.. admonition:: Breaking API changes
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:class: attention
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1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions.
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1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions. The constants ``mjMAXVFS`` and
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``mjMAXVFSNAME`` are also removed as they are no longer needed.
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**Migration:** Use :ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
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2. Calls to:ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
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2. Calls to :ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
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:ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
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3. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
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@@ -22,7 +23,9 @@ General
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The older functions have been removed from the Python bindings and will be removed from the C API in the next
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release.
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4. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
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4. The :ref:`VFS<Virtualfilesystem>` implementation has been rewritten in C++ and is now considerably more efficient in
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speed and memory footprint.
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5. Added a new API for :doc:`procedural model manipulation<programming/modeledit>`. Fixes :github:issue:`364`.
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Still missing:
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- Detailed documentation.
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@@ -31,27 +34,27 @@ General
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:align: right
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:width: 240px
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5. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
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6. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
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:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
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attributes, respectively.
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6. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
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7. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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8. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
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9. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
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with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
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point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
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7. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
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8. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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9. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
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10. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
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with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
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point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
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Relatedly, fixed various type errors that prevented building with single-precision.
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10. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
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Relatedly, fixed various type errors that prevented building with single-precision.
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11. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
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:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
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``mjData->qpos`` will be normalized.
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MJX
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~~~
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10. Added support for :ref:`elliptic friction cones<option-cone>`.
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11. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
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12. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
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12. Added support for :ref:`elliptic friction cones<option-cone>`.
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13. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
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14. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
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.. youtube:: P83tKA1iz2Y
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@@ -60,14 +63,14 @@ MJX
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Simulate
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^^^^^^^^
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13. Added improved tutorial video.
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14. Improved the Brownian noise generator.
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15. Added improved tutorial video.
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16. Improved the Brownian noise generator.
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|br| |br| |br| |br|
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Python bindings
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^^^^^^^^^^^^^^^
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15. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
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17. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
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Version 3.1.6 (Jun 3, 2024)
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---------------------------
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@@ -699,11 +699,7 @@ struct mjLROpt_ { // options for mj_setLengthRange()
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};
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typedef struct mjLROpt_ mjLROpt;
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struct mjVFS_ { // virtual file system for loading from memory
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int nfile; // number of files present
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char filename[mjMAXVFS][mjMAXVFSNAME]; // file name without path
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size_t filesize[mjMAXVFS]; // file size in bytes
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void* filedata[mjMAXVFS]; // buffer with file data
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uint64_t filestamp[mjMAXVFS]; // checksum of the file data
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void* impl_; // internal pointer to VFS memory
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};
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typedef struct mjVFS_ mjVFS;
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struct mjOption_ { // physics options
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