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Refactor compiler warning handling.

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Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.

PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
This commit is contained in:
Yuval Tassa
2026-06-16 16:27:52 -07:00
committed by Copybara-Service
parent 55c6332f20
commit 6f8bb5ef55
25 changed files with 640 additions and 89 deletions
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src/user/user_objects.cc
+16 -17
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@@ -38,12 +38,11 @@
#include <utility>
#include <vector>
#include "lodepng.h"
#include "cc/array_safety.h"
#include "engine/engine_passive.h"
#include "engine/engine_support.h"
#include "lodepng.h" // NOLINT
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_passive.h"
#include "user/user_api.h"
#include "user/user_cache.h"
#include "user/user_model.h"
@@ -197,7 +196,6 @@ mjCError::mjCError(const mjCBase* obj, const char* msg, const char* str, int pos
char temp[600];
// init
warning = false;
if (obj || msg) {
mju::sprintf_arr(message, "Error");
} else {
@@ -396,13 +394,13 @@ mjCBoundingVolumeHierarchy::AddBoundingVolume(const int* id, int contype, int co
// create bounding volume hierarchy
void mjCBoundingVolumeHierarchy::CreateBVH() {
void mjCBoundingVolumeHierarchy::CreateBVH(mjCModel* model,
const mjCBase* owner) {
std::vector<BVElement> elements;
Make(elements);
MakeBVH(elements.begin(), elements.end());
MakeBVH(elements.begin(), elements.end(), 0, model, owner);
}
void mjCBoundingVolumeHierarchy::Make(std::vector<BVElement>& elements) {
// precompute the positions of each element in the hierarchy's axes, and drop
// visual-only elements.
@@ -424,8 +422,9 @@ void mjCBoundingVolumeHierarchy::Make(std::vector<BVElement>& elements) {
// compute bounding volume hierarchy
int mjCBoundingVolumeHierarchy::MakeBVH(
std::vector<BVElement>::iterator elements_begin,
std::vector<BVElement>::iterator elements_end, int lev) {
std::vector<BVElement>::iterator elements_begin,
std::vector<BVElement>::iterator elements_end, int lev, mjCModel* model,
const mjCBase* owner) {
int nelements = elements_end - elements_begin;
if (nelements == 0) {
return -1;
@@ -525,11 +524,13 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
// recursive calls
if (m > 0) {
child_[2*index + 0] = MakeBVH(elements_begin, elements_begin + m, lev + 1);
child_[2 * index + 0] =
MakeBVH(elements_begin, elements_begin + m, lev + 1, model, owner);
}
if (m != nelements) {
child_[2*index + 1] = MakeBVH(elements_begin + m, elements_end, lev + 1);
child_[2 * index + 1] =
MakeBVH(elements_begin + m, elements_end, lev + 1, model, owner);
}
// SHOULD NOT OCCUR
@@ -539,14 +540,12 @@ int mjCBoundingVolumeHierarchy::MakeBVH(
}
if (lev > mjMAXTREEDEPTH) {
mju_warning("max tree depth exceeded in body=%s", name_.c_str());
model->AddWarning("max tree depth exceeded", owner);
}
return index;
}
//------------------------- class mjCOctree implementation --------------------------------------------
void mjCOctree::CopyLevel(int* level) const {
@@ -2631,7 +2630,7 @@ void mjCBody::ComputeBVH() {
tree.AddBoundingVolume(&geom->id, geom->contype, geom->conaffinity,
geom->pos, geom->quat, geom->aabb);
}
tree.CreateBVH();
tree.CreateBVH(model, this);
}
@@ -3871,7 +3870,7 @@ void mjCGeom::SetFluidCoefs(void) {
// compute bounding box
void mjCGeom::ComputeAABB(void) {
double aamm[6]; // axis-aligned bounding box in (min, max) format
double aamm[6]; // axis-aligned bounding box in (min, max) format
switch (type) {
case mjGEOM_HFIELD:
aamm[0] = -hfield->size[0];