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Add mjModel.mesh_scale: scaling applied to asset vertices.

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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
This commit is contained in:
Yuval Tassa
2024-04-15 14:25:04 -07:00
committed by Copybara-Service
parent 9f1651b7bd
commit 7b3f1a0261
10 changed files with 61 additions and 10 deletions
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doc/changelog.rst
+9
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@@ -2,6 +2,15 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added `mjModel.mesh_scale`: the scaling applied to asset vertices, as specified in the :ref:`scale<asset-mesh-scale>`
attribute.
Version 3.1.4 (April 10th, 2024)
--------------------------------
doc/includes/references.h
+1
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@@ -1165,6 +1165,7 @@ struct mjModel_ {
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
include/mujoco/mjmodel.h
+1
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@@ -880,6 +880,7 @@ struct mjModel_ {
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
mjtNum* mesh_scale; // scaling applied to asset vertices (nmesh x 3)
mjtNum* mesh_pos; // translation applied to asset vertices (nmesh x 3)
mjtNum* mesh_quat; // rotation applied to asset vertices (nmesh x 4)
int* mesh_pathadr; // address of asset path for mesh; -1: none (nmesh x 1)
include/mujoco/mjxmacro.h
+1
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@@ -365,6 +365,7 @@
XMJV( int, mesh_bvhadr, nmesh, 1 ) \
XMJV( int, mesh_bvhnum, nmesh, 1 ) \
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
introspect/structs.py
+7
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@@ -2655,6 +2655,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='convex graph data (nmeshgraph x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='mesh_scale',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='scaling applied to asset vertices (nmesh x 3)',
),
StructFieldDecl(
name='mesh_pos',
type=PointerType(
src/engine/engine_io.c
+9 -5
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@@ -534,11 +534,15 @@ mjModel* mj_makeModel(
m->nuser_actuator = nuser_actuator;
m->nuser_sensor = nuser_sensor;
m->nnames = nnames;
m->nnames_map = mjLOAD_MULTIPLE
* (nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh
+ nskin + nhfield + ntex + nmat + npair + nexclude + neq
+ ntendon + nu + nsensor + nnumeric + ntext + ntuple
+ nkey + nplugin);
long nnames_map = (long)nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh + nskin +
nhfield + ntex + nmat + npair + nexclude + neq + ntendon + nu + nsensor +
nnumeric + ntext + ntuple + nkey + nplugin;
if (nnames_map >= INT_MAX / mjLOAD_MULTIPLE) {
mju_free(m);
mju_warning("Invalid model: size of nnames_map is larger than INT_MAX");
return 0;
}
m->nnames_map = mjLOAD_MULTIPLE * nnames_map;
m->npaths = npaths;
#define X(name) \
src/user/user_model.cc
+1
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@@ -2123,6 +2123,7 @@ 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;
copyvec(&m->mesh_scale[3 * i], pme->get_scale(), 3);
copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
src/user/user_objects.h
+5 -5
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@@ -815,12 +815,12 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
const mjCBoundingVolumeHierarchy& tree() { return tree_; }
void Compile(const mjVFS* vfs); // compiler
double* GetPosPtr(mjtGeomInertia type); // get position
double* GetQuatPtr(mjtGeomInertia type); // get orientation
double* GetPosPtr(mjtGeomInertia type); // get position
double* GetQuatPtr(mjtGeomInertia type); // get orientation
double* GetOffsetPosPtr(); // get position offset for geom
double* GetOffsetQuatPtr(); // get orientation offset for geom
double* GetInertiaBoxPtr(mjtGeomInertia type); // get inertia box
double& GetVolumeRef(mjtGeomInertia type); // get volume
double* GetInertiaBoxPtr(mjtGeomInertia type); // get inertia box
double& GetVolumeRef(mjtGeomInertia type); // get volume
void FitGeom(mjCGeom* geom, double* meshpos); // approximate mesh with simple geom
bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord
@@ -852,7 +852,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
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
void CheckMesh(mjtGeomInertia type); // check if the mesh is valid
// mesh data to be copied into mjModel
float* vert_; // vertex data (3*nvert), relative to (pos, quat)
test/user/user_mesh_test.cc
+26
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@@ -58,6 +58,11 @@ static const char* const kDuplicateOBJPath =
static const char* const kMalformedFaceOBJPath =
"user/testdata/malformed_face.xml";
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
using ::testing::ElementsAre;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
@@ -863,6 +868,27 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, MeshScale) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="pyramid" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="pyramid_scaled" vertex="0 0 0 1 0 0 0 1 0 0 0 1" scale="0.9 1 -1"/>
</asset>
<worldbody>
<geom type="mesh" name="geom1" mesh="pyramid"/>
<geom type="mesh" name="geom2" mesh="pyramid_scaled"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
EXPECT_THAT(AsVector(model->mesh_scale + 0, 3), ElementsAre(1, 1, 1));
EXPECT_THAT(AsVector(model->mesh_scale + 3, 3), ElementsAre(0.9, 1, -1));
mj_deleteModel(model);
}
// ----------------------------- texcoord -------------------------------------
TEST_F(MjCMeshTest, CreateFaceTexCoord) {
unity/Runtime/Bindings/MjBindings.cs
+1
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@@ -5374,6 +5374,7 @@ public unsafe struct mjModel_ {
public int* mesh_facenormal;
public int* mesh_facetexcoord;
public int* mesh_graph;
public double* mesh_scale;
public double* mesh_pos;
public double* mesh_quat;
public int* mesh_pathadr;