Add mjModel.mesh_scale: scaling applied to asset vertices.

PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07

doc/changelog.rst

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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
+  long nnames_map = (long)nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh + nskin +
-                  * (nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh
+                    nhfield + ntex + nmat + npair + nexclude + neq + ntendon + nu + nsensor +
-                     + nskin + nhfield + ntex + nmat + npair + nexclude + neq
+                    nnumeric + ntext + ntuple + nkey + nplugin;
-                     + ntendon  + nu + nsensor + nnumeric + ntext + ntuple
+  if (nnames_map >= INT_MAX / mjLOAD_MULTIPLE) {
-                     + nkey + nplugin);
+    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

@@ -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

@@ -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* GetPosPtr(mjtGeomInertia type);           // get position
-  double* GetQuatPtr(mjtGeomInertia type);             // get orientation
+  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* GetInertiaBoxPtr(mjtGeomInertia type);    // get inertia box
-  double& GetVolumeRef(mjtGeomInertia type);           // get volume
+  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

@@ -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

@@ -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;