chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix a few issues with the passive viewer.

Browse Source 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
This commit is contained in:
Nimrod Gileadi
2023-12-18 07:32:20 -08:00
committed by Copybara-Service
parent 8ecb16abfa
commit 7cb7c87f70
9 changed files with 61 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+3
View File
@@ -2170,6 +2170,7 @@ struct mjvSceneState_ {
int nnames;
int npaths;
int nsensordata;
int narena;
mjOption opt;
mjVisual vis;
@@ -2383,6 +2384,7 @@ struct mjvSceneState_ {
mjtNum* ten_length;
mjtNum* wrap_xpos;
mjtNum* bvh_aabb_dyn;
mjtByte* bvh_active;
int* island_dofadr;
int* island_dofind;
@@ -2394,6 +2396,7 @@ struct mjvSceneState_ {
mjContact* contact;
mjtNum* efc_force;
void* arena;
} data;
};
typedef struct mjvSceneState_ mjvSceneState;
include/mujoco/mjvisualize.h
+3
View File
@@ -436,6 +436,7 @@ struct mjvSceneState_ {
int nnames;
int npaths;
int nsensordata;
int narena;
mjOption opt;
mjVisual vis;
@@ -649,6 +650,7 @@ struct mjvSceneState_ {
mjtNum* ten_length;
mjtNum* wrap_xpos;
mjtNum* bvh_aabb_dyn;
mjtByte* bvh_active;
int* island_dofadr;
int* island_dofind;
@@ -660,6 +662,7 @@ struct mjvSceneState_ {
mjContact* contact;
mjtNum* efc_force;
void* arena;
} data;
};
typedef struct mjvSceneState_ mjvSceneState;
include/mujoco/mjxmacro.h
+1 -1
View File
@@ -614,7 +614,7 @@
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
X ( mjtNum, qLDiagSqrtInv, nv, 1 ) \
X ( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
X ( mjtNum, flexedge_velocity, nflexedge, 1 ) \
X ( mjtNum, ten_velocity, ntendon, 1 ) \
introspect/structs.py
+19
View File
@@ -6334,6 +6334,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='narena',
type=ValueType(name='int'),
doc='',
),
StructFieldDecl(
name='opt',
type=ValueType(name='mjOption'),
@@ -7596,6 +7601,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='bvh_aabb_dyn',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='',
),
StructFieldDecl(
name='bvh_active',
type=PointerType(
@@ -7659,6 +7671,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='arena',
type=PointerType(
inner_type=ValueType(name='void'),
),
doc='',
),
),
),
doc='',
simulate/simulate.cc
+6 -3
View File
@@ -1817,6 +1817,9 @@ void Simulate::Sync() {
if (!m_) {
return;
}
if (this->exitrequest.load()) {
return;
}
bool update_profiler = this->profiler && (this->pause_update || this->run);
bool update_sensor = this->sensor && (this->pause_update || this->run);
@@ -2714,9 +2717,9 @@ void Simulate::RenderLoop() {
}
}
if (!is_passive_){
mjv_freeScene(&this->scn);
} else {
const MutexLock lock(this->mtx);
mjv_freeScene(&this->scn);
if (is_passive_) {
mjv_freeSceneState(&scnstate_);
}
src/engine/engine_vis_state.c
+16
View File
@@ -86,6 +86,11 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
#undef XMJV
#undef X
// create an arena in the scnstate, to allow visualization code to use the stack.
// TODO: Consider allocating way less than narena, since stack allocations in
// visualization code are much smaller than the arena space required by the model,
// typically.
scnstate->nbuffer += roundUpToCacheLine(m->narena);
// buffer space required for contacts
int condimmax = mj_isPyramidal(m) ? 10 : 6;
scnstate->nbuffer += roundUpToCacheLine(sizeof(*d->contact) * maxgeom);
@@ -118,6 +123,10 @@ void mjv_makeSceneState(const mjModel* m, const mjData* d, mjvSceneState* scnsta
#undef XMJV
#undef X
scnstate->model.narena = m->narena;
scnstate->data.arena = (void*)ptr;
ptr += roundUpToCacheLine(m->narena);
scnstate->data.contact = (mjContact*)ptr;
ptr += roundUpToCacheLine(sizeof(*scnstate->data.contact) * scnstate->maxgeom);
@@ -177,6 +186,7 @@ void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData*
m->opt = scnstate->model.opt;
m->vis = scnstate->model.vis;
m->stat = scnstate->model.stat;
m->narena = scnstate->model.narena;
#define X(dtype, var, dim0, dim1)
#define XMJV(dtype, var, dim0, dim1) m->var = scnstate->model.var;
@@ -194,10 +204,16 @@ void mjv_assignFromSceneState(const mjvSceneState* scnstate, mjModel* m, mjData*
#endif
memcpy(d->warning, scnstate->data.warning, sizeof(d->warning));
d->threadpool = 0;
d->nefc = scnstate->data.nefc;
d->ncon = scnstate->data.ncon;
d->nisland = scnstate->data.nisland;
d->time = scnstate->data.time;
d->narena = scnstate->model.narena;
d->arena = scnstate->data.arena;
d->parena = 0;
d->pbase = 0;
d->pstack = 0;
#define X(dtype, var, dim0, dim1)
#define XMJV(dtype, var, dim0, dim1) d->var = scnstate->data.var;
test/engine/CMakeLists.txt
+6 -1
View File
@@ -99,5 +99,10 @@ target_link_libraries(engine_util_spatial_test fixture gmock)
mujoco_test(engine_vfs_test)
target_link_libraries(engine_vfs_test fixture gmock)
mujoco_test(engine_vis_state_test)
mujoco_test(
engine_vis_state_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
)
target_link_libraries(engine_vis_state_test fixture gmock)
test/engine/engine_vis_state_test.cc
+4 -4
View File
@@ -35,17 +35,17 @@ static const char* const kTendonPath =
"engine/testdata/island/tendon_wrap.xml";
static const char* const kFrustumPath =
"engine/testdata/vis_visualize/frustum.xml";
static const char* const kModelPath =
"testdata/model.xml";
static const char* const kFlex = "testdata/flex.xml";
static const char* const kModelPath = "testdata/model.xml";
#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
TEST_F(MjvSceneStateTest, CanUpdateFromState) {
for (const char* path :
{kHammockPath, kTendonPath, kModelPath, kFrustumPath}) {
{kHammockPath, kTendonPath, kModelPath, kFrustumPath, kFlex}) {
const std::string xml_path = GetTestDataFilePath(path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
ASSERT_THAT(model, NotNull());
ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
mjData* data = mj_makeData(model);
while (data->time < 2) {
unity/Runtime/Bindings/MjBindings.cs
+3
View File
@@ -6095,6 +6095,7 @@ public unsafe struct model {
public int nnames;
public int npaths;
public int nsensordata;
public int narena;
public mjOption_ opt;
public mjVisual_ vis;
public mjStatistic_ stat;
@@ -6287,6 +6288,7 @@ public unsafe struct data {
public int* wrap_obj;
public double* ten_length;
public double* wrap_xpos;
public double* bvh_aabb_dyn;
public byte* bvh_active;
public int* island_dofadr;
public int* island_dofind;
@@ -6296,6 +6298,7 @@ public unsafe struct data {
public double* flexvert_xpos;
public mjContact_* contact;
public double* efc_force;
public void* arena;
}
[StructLayout(LayoutKind.Sequential)]