Add mjv_copyData
PiperOrigin-RevId: 760642972 Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
670c97c4f7
commit
8268c6d1ff
+103
-103
@@ -268,7 +268,7 @@
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X ( mjtNum, geom_friction, ngeom, 3 ) \
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X ( mjtNum, geom_margin, ngeom, 1 ) \
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X ( mjtNum, geom_gap, ngeom, 1 ) \
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X ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
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XNV ( mjtNum, geom_fluid, ngeom, mjNFLUID ) \
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X ( mjtNum, geom_user, ngeom, MJ_M(nuser_geom) ) \
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XMJV( float, geom_rgba, ngeom, 4 ) \
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XMJV( int, site_type, nsite, 1 ) \
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@@ -401,15 +401,15 @@
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XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
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XNV ( int, mesh_graph, nmeshgraph, 1 ) \
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XMJV( int, mesh_pathadr, nmesh, 1 ) \
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X ( int, mesh_polynum, nmesh, 1 ) \
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X ( int, mesh_polyadr, nmesh, 1 ) \
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X ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
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X ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
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X ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
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X ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
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X ( int, mesh_polymapadr, nmeshvert, 1 ) \
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X ( int, mesh_polymapnum, nmeshvert, 1 ) \
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X ( int, mesh_polymap, nmeshpolymap, 1 ) \
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XNV ( int, mesh_polynum, nmesh, 1 ) \
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XNV ( int, mesh_polyadr, nmesh, 1 ) \
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XNV ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
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XNV ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
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XNV ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
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XNV ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
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XNV ( int, mesh_polymapadr, nmeshvert, 1 ) \
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XNV ( int, mesh_polymapnum, nmeshvert, 1 ) \
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XNV ( int, mesh_polymap, nmeshpolymap, 1 ) \
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XMJV( int, skin_matid, nskin, 1 ) \
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XMJV( int, skin_group, nskin, 1 ) \
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XMJV( float, skin_rgba, nskin, 4 ) \
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@@ -655,10 +655,10 @@
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X ( int, moment_rowadr, nu, 1 ) \
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X ( int, moment_colind, nJmom, 1 ) \
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X ( mjtNum, actuator_moment, nJmom, 1 ) \
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X ( mjtNum, crb, nbody, 10 ) \
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X ( mjtNum, qM, nM, 1 ) \
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X ( mjtNum, M, nC, 1 ) \
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X ( mjtNum, qLD, nC, 1 ) \
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XNV ( mjtNum, crb, nbody, 10 ) \
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XNV ( mjtNum, qM, nM, 1 ) \
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XNV ( mjtNum, M, nC, 1 ) \
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XNV ( mjtNum, qLD, nC, 1 ) \
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X ( mjtNum, qLDiagInv, nv, 1 ) \
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XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
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XMJV( mjtByte, bvh_active, nbvh, 1 ) \
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@@ -675,23 +675,23 @@
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X ( mjtNum, qfrc_passive, nv, 1 ) \
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X ( mjtNum, subtree_linvel, nbody, 3 ) \
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X ( mjtNum, subtree_angmom, nbody, 3 ) \
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X ( mjtNum, qH, nC, 1 ) \
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XNV ( mjtNum, qH, nC, 1 ) \
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X ( mjtNum, qHDiagInv, nv, 1 ) \
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X ( int, B_rownnz, nbody, 1 ) \
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X ( int, B_rowadr, nbody, 1 ) \
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X ( int, B_colind, nB, 1 ) \
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X ( int, M_rownnz, nv, 1 ) \
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X ( int, M_rowadr, nv, 1 ) \
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X ( int, M_colind, nC, 1 ) \
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X ( int, mapM2M, nC, 1 ) \
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X ( int, D_rownnz, nv, 1 ) \
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X ( int, D_rowadr, nv, 1 ) \
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X ( int, D_diag, nv, 1 ) \
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X ( int, D_colind, nD, 1 ) \
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X ( int, mapM2D, nD, 1 ) \
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X ( int, mapD2M, nM, 1 ) \
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X ( mjtNum, qDeriv, nD, 1 ) \
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X ( mjtNum, qLU, nD, 1 ) \
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XNV ( int, B_rownnz, nbody, 1 ) \
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XNV ( int, B_rowadr, nbody, 1 ) \
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XNV ( int, B_colind, nB, 1 ) \
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XNV ( int, M_rownnz, nv, 1 ) \
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XNV ( int, M_rowadr, nv, 1 ) \
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XNV ( int, M_colind, nC, 1 ) \
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XNV ( int, mapM2M, nC, 1 ) \
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XNV ( int, D_rownnz, nv, 1 ) \
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XNV ( int, D_rowadr, nv, 1 ) \
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XNV ( int, D_diag, nv, 1 ) \
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XNV ( int, D_colind, nD, 1 ) \
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XNV ( int, mapM2D, nD, 1 ) \
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XNV ( int, mapD2M, nM, 1 ) \
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XNV ( mjtNum, qDeriv, nD, 1 ) \
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XNV ( mjtNum, qLU, nD, 1 ) \
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X ( mjtNum, actuator_force, nu, 1 ) \
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X ( mjtNum, qfrc_actuator, nv, 1 ) \
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X ( mjtNum, qfrc_smooth, nv, 1 ) \
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@@ -712,83 +712,83 @@
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X( mjContact, contact, MJ_D(ncon), 1 )
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// array fields of mjData that are used in the primal problem
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#define MJDATA_ARENA_POINTERS_SOLVER \
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X( int, efc_type, MJ_D(nefc), 1 ) \
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X( int, efc_id, MJ_D(nefc), 1 ) \
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X( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
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X( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
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X( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
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X( int, efc_J_colind, MJ_D(nJ), 1 ) \
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X( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
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X( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
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X( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
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X( int, efc_JT_colind, MJ_D(nJ), 1 ) \
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X( mjtNum, efc_J, MJ_D(nJ), 1 ) \
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X( mjtNum, efc_JT, MJ_D(nJ), 1 ) \
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X( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
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X( mjtNum, efc_D, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_R, MJ_D(nefc), 1 ) \
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X( int, tendon_efcadr, MJ_M(ntendon), 1 ) \
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X( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_b, MJ_D(nefc), 1 ) \
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X( mjtNum, efc_force, MJ_D(nefc), 1 ) \
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X( int, efc_state, MJ_D(nefc), 1 )
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#define MJDATA_ARENA_POINTERS_SOLVER \
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X ( int, efc_type, MJ_D(nefc), 1 ) \
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X ( int, efc_id, MJ_D(nefc), 1 ) \
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XNV( int, efc_J_rownnz, MJ_D(nefc), 1 ) \
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XNV( int, efc_J_rowadr, MJ_D(nefc), 1 ) \
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XNV( int, efc_J_rowsuper, MJ_D(nefc), 1 ) \
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XNV( int, efc_J_colind, MJ_D(nJ), 1 ) \
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XNV( int, efc_JT_rownnz, MJ_M(nv), 1 ) \
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XNV( int, efc_JT_rowadr, MJ_M(nv), 1 ) \
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XNV( int, efc_JT_rowsuper, MJ_M(nv), 1 ) \
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XNV( int, efc_JT_colind, MJ_D(nJ), 1 ) \
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XNV( mjtNum, efc_J, MJ_D(nJ), 1 ) \
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XNV( mjtNum, efc_JT, MJ_D(nJ), 1 ) \
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X ( mjtNum, efc_pos, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_margin, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_frictionloss, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_diagApprox, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_KBIP, MJ_D(nefc), 4 ) \
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X ( mjtNum, efc_D, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_R, MJ_D(nefc), 1 ) \
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X ( int, tendon_efcadr, MJ_M(ntendon), 1 ) \
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X ( mjtNum, efc_vel, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_aref, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_b, MJ_D(nefc), 1 ) \
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X ( mjtNum, efc_force, MJ_D(nefc), 1 ) \
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X ( int, efc_state, MJ_D(nefc), 1 )
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// array fields of mjData that are used in the dual problem
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#define MJDATA_ARENA_POINTERS_DUAL \
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X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
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X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
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X( int, efc_AR_colind, MJ_D(nA), 1 ) \
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X( mjtNum, efc_AR, MJ_D(nA), 1 )
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#define MJDATA_ARENA_POINTERS_DUAL \
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XNV( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
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XNV( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
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XNV( int, efc_AR_colind, MJ_D(nA), 1 ) \
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XNV( mjtNum, efc_AR, MJ_D(nA), 1 )
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// array fields of mjData that are used for constraint islands
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#define MJDATA_ARENA_POINTERS_ISLAND \
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X( int, dof_island, MJ_M(nv), 1 ) \
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X( int, island_nv, MJ_D(nisland), 1 ) \
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X( int, island_idofadr, MJ_D(nisland), 1 ) \
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X( int, island_dofadr, MJ_D(nisland), 1 ) \
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X( int, map_dof2idof, MJ_M(nv), 1 ) \
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X( int, map_idof2dof, MJ_M(nv), 1 ) \
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X( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
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X( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
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X( int, iM_rownnz, MJ_D(nidof), 1 ) \
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X( int, iM_rowadr, MJ_D(nidof), 1 ) \
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X( int, iM_colind, MJ_M(nC), 1 ) \
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X( mjtNum, iM, MJ_M(nC), 1 ) \
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X( mjtNum, iLD, MJ_M(nC), 1 ) \
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X( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
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X( mjtNum, iacc, MJ_D(nidof), 1 ) \
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X( int, efc_island, MJ_D(nefc), 1 ) \
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X( int, island_ne, MJ_D(nisland), 1 ) \
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X( int, island_nf, MJ_D(nisland), 1 ) \
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X( int, island_nefc, MJ_D(nisland), 1 ) \
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X( int, island_iefcadr, MJ_D(nisland), 1 ) \
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X( int, map_efc2iefc, MJ_D(nefc), 1 ) \
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X( int, map_iefc2efc, MJ_D(nefc), 1 ) \
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X( int, iefc_type, MJ_D(nefc), 1 ) \
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X( int, iefc_id, MJ_D(nefc), 1 ) \
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X( int, iefc_J_rownnz, MJ_D(nefc), 1 ) \
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X( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
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X( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
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X( int, iefc_J_colind, MJ_D(nJ), 1 ) \
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X( int, iefc_JT_rownnz, MJ_D(nidof), 1 ) \
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X( int, iefc_JT_rowadr, MJ_D(nidof), 1 ) \
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X( int, iefc_JT_rowsuper, MJ_D(nidof), 1 ) \
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X( int, iefc_JT_colind, MJ_D(nJ), 1 ) \
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X( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
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X( mjtNum, iefc_JT, MJ_D(nJ), 1 ) \
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X( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
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X( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
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X( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
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X( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
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X( int, iefc_state, MJ_D(nefc), 1 ) \
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X( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
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X( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
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#define MJDATA_ARENA_POINTERS_ISLAND \
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X ( int, dof_island, MJ_M(nv), 1 ) \
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X ( int, island_nv, MJ_D(nisland), 1 ) \
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X ( int, island_idofadr, MJ_D(nisland), 1 ) \
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X ( int, island_dofadr, MJ_D(nisland), 1 ) \
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X ( int, map_dof2idof, MJ_M(nv), 1 ) \
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X ( int, map_idof2dof, MJ_M(nv), 1 ) \
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X ( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
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X ( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
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XNV( int, iM_rownnz, MJ_D(nidof), 1 ) \
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XNV( int, iM_rowadr, MJ_D(nidof), 1 ) \
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XNV( int, iM_colind, MJ_M(nC), 1 ) \
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XNV( mjtNum, iM, MJ_M(nC), 1 ) \
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XNV( mjtNum, iLD, MJ_M(nC), 1 ) \
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X ( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
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X ( mjtNum, iacc, MJ_D(nidof), 1 ) \
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X ( int, efc_island, MJ_D(nefc), 1 ) \
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X ( int, island_ne, MJ_D(nisland), 1 ) \
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X ( int, island_nf, MJ_D(nisland), 1 ) \
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X ( int, island_nefc, MJ_D(nisland), 1 ) \
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X ( int, island_iefcadr, MJ_D(nisland), 1 ) \
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X ( int, map_efc2iefc, MJ_D(nefc), 1 ) \
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X ( int, map_iefc2efc, MJ_D(nefc), 1 ) \
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X ( int, iefc_type, MJ_D(nefc), 1 ) \
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X ( int, iefc_id, MJ_D(nefc), 1 ) \
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XNV( int, iefc_J_rownnz, MJ_D(nefc), 1 ) \
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XNV( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
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XNV( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
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XNV( int, iefc_J_colind, MJ_D(nJ), 1 ) \
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XNV( int, iefc_JT_rownnz, MJ_D(nidof), 1 ) \
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XNV( int, iefc_JT_rowadr, MJ_D(nidof), 1 ) \
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XNV( int, iefc_JT_rowsuper, MJ_D(nidof), 1 ) \
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XNV( int, iefc_JT_colind, MJ_D(nJ), 1 ) \
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XNV( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
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XNV( mjtNum, iefc_JT, MJ_D(nJ), 1 ) \
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X ( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
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X ( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
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X ( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
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X ( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
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X ( int, iefc_state, MJ_D(nefc), 1 ) \
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X ( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
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X ( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
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// array fields of mjData that live in d->arena
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#define MJDATA_ARENA_POINTERS \
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@@ -187,6 +187,9 @@ MJAPI mjData* mj_makeData(const mjModel* m);
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// m is only required to contain the size fields from MJMODEL_INTS.
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MJAPI mjData* mj_copyData(mjData* dest, const mjModel* m, const mjData* src);
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// Copy mjData, skip large arrays not required for visualization.
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MJAPI mjData* mjv_copyData(mjData* dest, const mjModel* m, const mjData* src);
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// Reset data to defaults.
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MJAPI void mj_resetData(const mjModel* m, mjData* d);
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