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Add fields in mjModel for supporting mesh multicontact in nativeccd.

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PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
This commit is contained in:
Kyle Bayes
2025-02-19 07:11:25 -08:00
committed by Copybara-Service
parent b516edae1b
commit 7f3bb062c3
8 changed files with 166 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+12
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@@ -916,6 +916,9 @@ struct mjModel_ {
int nmeshtexcoord; // number of texcoords in all meshes
int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of ints in mesh auxiliary data
int nmeshpoly; // number of polygons in all meshes
int nmeshpolyvert; // number of vertices in all polygons
int nmeshpolymap; // number of polygons in vertex map
int nskin; // number of skins
int nskinvert; // number of vertices in all skins
int nskintexvert; // number of vertiex with texcoords in all skins
@@ -1222,6 +1225,15 @@ struct mjModel_ {
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)
int* mesh_polynum; // number of polygons per mesh (nmesh x 1)
int* mesh_polyadr; // first polygon address per mesh (nmesh x 1)
mjtNum* mesh_polynormal; // all polygon normals (nmeshpoly x 3)
int* mesh_polyvertadr; // polygon vertex start address (nmeshpoly x 1)
int* mesh_polyvertnum; // number of vertices per polygon (nmeshpoly x 1)
int* mesh_polyvert; // all polygon vertices (nmeshpolyvert x 1)
int* mesh_polymapadr; // first polygon address per vertex (nmeshvert x 1)
int* mesh_polymapnum; // number of polygons per vertex (nmeshvert x 1)
int* mesh_polymap; // vertex to polygon map (nmeshpolymap x 1)
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
include/mujoco/mjmodel.h
+12
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@@ -624,6 +624,9 @@ struct mjModel_ {
int nmeshtexcoord; // number of texcoords in all meshes
int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of ints in mesh auxiliary data
int nmeshpoly; // number of polygons in all meshes
int nmeshpolyvert; // number of vertices in all polygons
int nmeshpolymap; // number of polygons in vertex map
int nskin; // number of skins
int nskinvert; // number of vertices in all skins
int nskintexvert; // number of vertiex with texcoords in all skins
@@ -930,6 +933,15 @@ struct mjModel_ {
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)
int* mesh_polynum; // number of polygons per mesh (nmesh x 1)
int* mesh_polyadr; // first polygon address per mesh (nmesh x 1)
mjtNum* mesh_polynormal; // all polygon normals (nmeshpoly x 3)
int* mesh_polyvertadr; // polygon vertex start address (nmeshpoly x 1)
int* mesh_polyvertnum; // number of vertices per polygon (nmeshpoly x 1)
int* mesh_polyvert; // all polygon vertices (nmeshpolyvert x 1)
int* mesh_polymapadr; // first polygon address per vertex (nmeshvert x 1)
int* mesh_polymapnum; // number of polygons per vertex (nmeshvert x 1)
int* mesh_polymap; // vertex to polygon map (nmeshpolymap x 1)
// skins
int* skin_matid; // skin material id; -1: none (nskin x 1)
include/mujoco/mjxmacro.h
+12
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@@ -96,6 +96,9 @@
X ( nmeshtexcoord ) \
X ( nmeshface ) \
X ( nmeshgraph ) \
X ( nmeshpoly ) \
X ( nmeshpolyvert ) \
X ( nmeshpolymap ) \
XMJV( nskin ) \
XMJV( nskinvert ) \
X ( nskintexvert ) \
@@ -393,6 +396,15 @@
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
XMJV( int, mesh_pathadr, nmesh, 1 ) \
X ( int, mesh_polynum, nmesh, 1 ) \
X ( int, mesh_polyadr, nmesh, 1 ) \
X ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
X ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
X ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
X ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
X ( int, mesh_polymapadr, nmeshvert, 1 ) \
X ( int, mesh_polymapnum, nmeshvert, 1 ) \
X ( int, mesh_polymap, nmeshpolymap, 1 ) \
XMJV( int, skin_matid, nskin, 1 ) \
XMJV( int, skin_group, nskin, 1 ) \
XMJV( float, skin_rgba, nskin, 4 ) \
introspect/structs.py
+87
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@@ -973,6 +973,21 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of ints in mesh auxiliary data',
),
StructFieldDecl(
name='nmeshpoly',
type=ValueType(name='int'),
doc='number of polygons in all meshes',
),
StructFieldDecl(
name='nmeshpolyvert',
type=ValueType(name='int'),
doc='number of vertices in all polygons',
),
StructFieldDecl(
name='nmeshpolymap',
type=ValueType(name='int'),
doc='number of polygons in vertex map',
),
StructFieldDecl(
name='nskin',
type=ValueType(name='int'),
@@ -2971,6 +2986,78 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='address of asset path for mesh; -1: none (nmesh x 1)',
),
StructFieldDecl(
name='mesh_polynum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of polygons per mesh',
array_extent=('nmesh',),
),
StructFieldDecl(
name='mesh_polyadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first polygon address per mesh',
array_extent=('nmesh',),
),
StructFieldDecl(
name='mesh_polynormal',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='all polygon normals',
array_extent=('nmeshpoly', 3),
),
StructFieldDecl(
name='mesh_polyvertadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='polygon vertex start address',
array_extent=('nmeshpoly',),
),
StructFieldDecl(
name='mesh_polyvertnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of vertices per polygon',
array_extent=('nmeshpoly',),
),
StructFieldDecl(
name='mesh_polyvert',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='all polygon vertices',
array_extent=('nmeshpolyvert',),
),
StructFieldDecl(
name='mesh_polymapadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first polygon address per vertex',
array_extent=('nmeshvert',),
),
StructFieldDecl(
name='mesh_polymapnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of polygons per vertex',
array_extent=('nmeshvert',),
),
StructFieldDecl(
name='mesh_polymap',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='vertex to polygon map',
array_extent=('nmeshpolymap',),
),
StructFieldDecl(
name='skin_matid',
type=PointerType(
src/engine/engine_io.c
+14 -6
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@@ -463,7 +463,8 @@ void mj_makeModel(mjModel** dest,
int nlight, int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nmeshgraph, int nmeshpoly, int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert,
int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
int ntexdata, int nmat, int npair, int nexclude, int neq, int ntendon,
int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext,
@@ -518,6 +519,9 @@ void mj_makeModel(mjModel** dest,
m->nmeshtexcoord = nmeshtexcoord;
m->nmeshface = nmeshface;
m->nmeshgraph = nmeshgraph;
m->nmeshpoly = nmeshpoly;
m->nmeshpolyvert = nmeshpolyvert;
m->nmeshpolymap = nmeshpolymap;
m->nskin = nskin;
m->nskinvert = nskinvert;
m->nskintexvert = nskintexvert;
@@ -639,6 +643,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nmeshpoly, src->nmeshpolyvert, src->nmeshpolymap,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
@@ -829,7 +834,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65]);
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);
@@ -2178,10 +2183,7 @@ const char* mj_validateReferences(const mjModel* m) {
// nadrs: number of elements in refarray
// ntarget: number of elements in array where references are pointing
// numarray: if refarray is an adr array, numarray is the corresponding num array, otherwise 0
// add flex fields (b/303056369)
#define MJMODEL_REFERENCES \
#define MJMODEL_REFERENCES \
X(body_parentid, nbody, nbody , 0 ) \
X(body_rootid, nbody, nbody , 0 ) \
X(body_weldid, nbody, nbody , 0 ) \
@@ -2212,6 +2214,12 @@ const char* mj_validateReferences(const mjModel* m) {
X(mesh_faceadr, nmesh, nmeshface , m->mesh_facenum ) \
X(mesh_bvhadr, nmesh, nbvh , m->mesh_bvhnum ) \
X(mesh_graphadr, nmesh, nmeshgraph , 0 ) \
X(mesh_polyadr, nmesh, nmeshpoly , m->mesh_polynum ) \
X(mesh_polynormal, nmeshpoly*3, nmeshpoly*3 , 0 ) \
X(mesh_polyvertadr, nmeshpoly, nmeshpolyvert , m->mesh_polyvertnum ) \
X(mesh_polyvert, nmeshpolyvert, nmeshpolyvert , 0 ) \
X(mesh_polymapadr, nmeshvert, nmeshpolymap , m->mesh_polymapnum ) \
X(mesh_polymap, nmeshpolymap, nmeshpolymap , 0 ) \
X(flex_vertadr, nflex, nflexvert , m->flex_vertnum ) \
X(flex_edgeadr, nflex, nflexedge , m->flex_edgenum ) \
X(flex_elemadr, nflex, nflexelem , m->flex_elemnum ) \
src/engine/engine_io.h
+7 -9
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@@ -56,15 +56,13 @@ void mj_makeModel(mjModel** dest,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexnode, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
int nmeshtexcoord, int nmeshface, int nmeshgraph, int nskin, int nskinvert, int nskintexvert,
int nskinface, int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,
int ntuple, int ntupledata, int nkey, int nmocap, int nplugin,
int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom,
int nuser_site, int nuser_cam, int nuser_tendon, int nuser_actuator,
int nuser_sensor, int nnames, int npaths);
int nmeshtexcoord, int nmeshface, int nmeshgraph, int nmeshpoly, int nmeshpolyvert,
int nmeshpolymap, int nskin, int nskinvert, int nskintexvert, int nskinface, int nskinbone,
int nskinbonevert, int nhfield, int nhfielddata, int ntex, int ntexdata, int nmat, int npair,
int nexclude, int neq, int ntendon, int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext,
int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap, int nplugin, int npluginattr,
int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site, int nuser_cam, int nuser_tendon,
int nuser_actuator, int nuser_sensor, int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
src/user/user_model.cc
+10 -2
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@@ -2780,6 +2780,14 @@ void mjCModel::CopyObjects(mjModel* m) {
// get pointer
mjCMesh* pme = meshes_[i];
// zero out multi-ccd fields
for (int j = 0; j < pme->nvert(); j++) {
m->mesh_polymapadr[vert_adr + j] = 0;
m->mesh_polymapnum[vert_adr + j] = 0;
}
m->mesh_polynum[i] = 0;
m->mesh_polyadr[i] = 0;
// set fields
m->mesh_vertadr[i] = vert_adr;
m->mesh_vertnum[i] = pme->nvert();
@@ -4332,8 +4340,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, 0, 0,
0, nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
unity/Runtime/Bindings/MjBindings.cs
+12
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@@ -5208,6 +5208,9 @@ public unsafe struct mjModel_ {
public int nmeshtexcoord;
public int nmeshface;
public int nmeshgraph;
public int nmeshpoly;
public int nmeshpolyvert;
public int nmeshpolymap;
public int nskin;
public int nskinvert;
public int nskintexvert;
@@ -5480,6 +5483,15 @@ public unsafe struct mjModel_ {
public double* mesh_pos;
public double* mesh_quat;
public int* mesh_pathadr;
public int* mesh_polynum;
public int* mesh_polyadr;
public double* mesh_polynormal;
public int* mesh_polyvertadr;
public int* mesh_polyvertnum;
public int* mesh_polyvert;
public int* mesh_polymapadr;
public int* mesh_polymapnum;
public int* mesh_polymap;
public int* skin_matid;
public int* skin_group;
public float* skin_rgba;