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

Add option to mjspec for creating a texture directly from a buffer.

Browse Source 
PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
This commit is contained in:
Alessio Quaglino
2024-08-12 12:26:39 -07:00
committed by Copybara-Service
parent 20cae556ee
commit 851bb6eef4
16 changed files with 267 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_objects.cc
+82 -65
View File
@@ -3459,7 +3459,8 @@ mjCTexture::mjCTexture(mjCModel* _model) {
spec_cubefiles_.assign(6, "");
// clear internal variables
data.clear();
data_.clear();
clear_data_ = false;
// point to local
PointToLocal();
@@ -3480,6 +3481,7 @@ mjCTexture& mjCTexture::operator=(const mjCTexture& other) {
if (this != &other) {
this->spec = other.spec;
*static_cast<mjCTexture_*>(this) = static_cast<const mjCTexture_&>(other);
clear_data_ = other.clear_data_;
}
PointToLocal();
return *this;
@@ -3491,6 +3493,7 @@ void mjCTexture::PointToLocal() {
spec.element = static_cast<mjsElement*>(this);
spec.name = &name;
spec.file = &spec_file_;
spec.data = &data_;
spec.content_type = &spec_content_type_;
spec.cubefiles = &spec_cubefiles_;
spec.info = &info;
@@ -3507,21 +3510,23 @@ void mjCTexture::CopyFromSpec() {
content_type_ = spec_content_type_;
cubefiles_ = spec_cubefiles_;
// clear precompiled asset. TODO: use asset cache
data.clear();
if (clear_data_) {
// clear precompiled asset. TODO: use asset cache
data_.clear();
}
}
// free data storage allocated by lodepng
mjCTexture::~mjCTexture() {
data.clear();
data_.clear();
}
// insert random dots
static void randomdot(unsigned char* rgb, const double* markrgb,
static void randomdot(std::byte* rgb, const double* markrgb,
int width, int height, double probability) {
// make distribution using fixed seed
std::mt19937_64 rng;
@@ -3533,7 +3538,7 @@ static void randomdot(unsigned char* rgb, const double* markrgb,
for (int c=0; c<width; c++) {
if (dist(rng)<probability) {
for (int j=0; j<3; j++) {
rgb[3*(r*width+c)+j] = (mjtByte)(255*markrgb[j]);
rgb[3*(r*width+c)+j] = (std::byte)(255*markrgb[j]);
}
}
}
@@ -3543,7 +3548,7 @@ static void randomdot(unsigned char* rgb, const double* markrgb,
// interpolate between colors based on value in (-1, +1)
static void interp(unsigned char* rgb, const double* rgb1, const double* rgb2, double pos) {
static void interp(std::byte* rgb, const double* rgb1, const double* rgb2, double pos) {
const double correction = 1.0/sqrt(2);
double alpha = 0.5*(1 + pos/sqrt(1+pos*pos)/correction);
if (alpha<0) {
@@ -3553,14 +3558,14 @@ static void interp(unsigned char* rgb, const double* rgb1, const double* rgb2, d
}
for (int j=0; j<3; j++) {
rgb[j] = (mjtByte)(255*(alpha*rgb1[j] + (1-alpha)*rgb2[j]));
rgb[j] = (std::byte)(255*(alpha*rgb1[j] + (1-alpha)*rgb2[j]));
}
}
// make checker pattern for one side
static void checker(unsigned char* rgb, const unsigned char* RGB1, const unsigned char* RGB2,
static void checker(std::byte* rgb, const std::byte* RGB1, const std::byte* RGB2,
int width, int height) {
for (int r=0; r<height/2; r++) {
for (int c=0; c<width/2; c++) {
@@ -3588,12 +3593,12 @@ static void checker(unsigned char* rgb, const unsigned char* RGB1, const unsigne
// make builtin: 2D
void mjCTexture::Builtin2D(void) {
unsigned char RGB1[3], RGB2[3], RGBm[3];
std::byte RGB1[3], RGB2[3], RGBm[3];
// convert fixed colors
for (int j=0; j<3; j++) {
RGB1[j] = (mjtByte)(255*rgb1[j]);
RGB2[j] = (mjtByte)(255*rgb2[j]);
RGBm[j] = (mjtByte)(255*markrgb[j]);
RGB1[j] = (std::byte)(255*rgb1[j]);
RGB2[j] = (std::byte)(255*rgb2[j]);
RGBm[j] = (std::byte)(255*markrgb[j]);
}
//------------------ face
@@ -3608,21 +3613,21 @@ void mjCTexture::Builtin2D(void) {
double pos = 2*sqrt(x*x+y*y) - 1;
// interpolate through sigmoid
interp(data.data() + 3*(r*width+c), rgb2, rgb1, pos);
interp(data_.data() + 3*(r*width+c), rgb2, rgb1, pos);
}
}
}
// checker
else if (builtin==mjBUILTIN_CHECKER) {
checker(data.data(), RGB1, RGB2, width, height);
checker(data_.data(), RGB1, RGB2, width, height);
}
// flat
else if (builtin==mjBUILTIN_FLAT) {
for (int r=0; r<height; r++) {
for (int c=0; c<width; c++) {
memcpy(data.data()+3*(r*width+c), RGB1, 3);
memcpy(data_.data()+3*(r*width+c), RGB1, 3);
}
}
}
@@ -3632,28 +3637,28 @@ void mjCTexture::Builtin2D(void) {
// edge
if (mark==mjMARK_EDGE) {
for (int r=0; r<height; r++) {
memcpy(data.data()+3*(r*width+0), RGBm, 3);
memcpy(data.data()+3*(r*width+width-1), RGBm, 3);
memcpy(data_.data()+3*(r*width+0), RGBm, 3);
memcpy(data_.data()+3*(r*width+width-1), RGBm, 3);
}
for (int c=0; c<width; c++) {
memcpy(data.data()+3*(0*width+c), RGBm, 3);
memcpy(data.data()+3*((height-1)*width+c), RGBm, 3);
memcpy(data_.data()+3*(0*width+c), RGBm, 3);
memcpy(data_.data()+3*((height-1)*width+c), RGBm, 3);
}
}
// cross
else if (mark==mjMARK_CROSS) {
for (int r=0; r<height; r++) {
memcpy(data.data()+3*(r*width+width/2), RGBm, 3);
memcpy(data_.data()+3*(r*width+width/2), RGBm, 3);
}
for (int c=0; c<width; c++) {
memcpy(data.data()+3*(height/2*width+c), RGBm, 3);
memcpy(data_.data()+3*(height/2*width+c), RGBm, 3);
}
}
// random dots
else if (mark==mjMARK_RANDOM && random>0) {
randomdot(data.data(), markrgb, width, height, random);
randomdot(data_.data(), markrgb, width, height, random);
}
}
@@ -3661,7 +3666,7 @@ void mjCTexture::Builtin2D(void) {
// make builtin: Cube
void mjCTexture::BuiltinCube(void) {
unsigned char RGB1[3], RGB2[3], RGBm[3], RGBi[3];
std::byte RGB1[3], RGB2[3], RGBm[3], RGBi[3];
int w = width;
if (w > std::numeric_limits<int>::max() / w) {
throw mjCError(this, "Cube texture width is too large.");
@@ -3670,9 +3675,9 @@ void mjCTexture::BuiltinCube(void) {
// convert fixed colors
for (int j = 0; j < 3; j++) {
RGB1[j] = (mjtByte)(255 * rgb1[j]);
RGB2[j] = (mjtByte)(255 * rgb2[j]);
RGBm[j] = (mjtByte)(255 * markrgb[j]);
RGB1[j] = (std::byte)(255 * rgb1[j]);
RGB2[j] = (std::byte)(255 * rgb2[j]);
RGBm[j] = (std::byte)(255 * markrgb[j]);
}
//------------------ faces
@@ -3694,26 +3699,26 @@ void mjCTexture::BuiltinCube(void) {
// set sides
interp(RGBi, rgb1, rgb2, elside);
memcpy(data.data() + 0 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 0: right
memcpy(data.data() + 1 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 1: left
memcpy(data.data() + 4 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 4: front
memcpy(data.data() + 5 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 5: back
memcpy(data_.data() + 0 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 0: right
memcpy(data_.data() + 1 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 1: left
memcpy(data_.data() + 4 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 4: front
memcpy(data_.data() + 5 * 3 * ww + 3 * (r * w + c), RGBi, 3); // 5: back
// set up and down
interp(data.data() + 2 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, elup); // 2: up
interp(data.data() + 3 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, -elup); // 3: down
interp(data_.data() + 2 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, elup); // 2: up
interp(data_.data() + 3 * 3 * ww + 3 * (r * w + c), rgb1, rgb2, -elup); // 3: down
}
}
}
// checker
else if (builtin == mjBUILTIN_CHECKER) {
checker(data.data() + 0 * 3 * ww, RGB1, RGB2, w, w);
checker(data.data() + 1 * 3 * ww, RGB1, RGB2, w, w);
checker(data.data() + 2 * 3 * ww, RGB1, RGB2, w, w);
checker(data.data() + 3 * 3 * ww, RGB1, RGB2, w, w);
checker(data.data() + 4 * 3 * ww, RGB2, RGB1, w, w);
checker(data.data() + 5 * 3 * ww, RGB2, RGB1, w, w);
checker(data_.data() + 0 * 3 * ww, RGB1, RGB2, w, w);
checker(data_.data() + 1 * 3 * ww, RGB1, RGB2, w, w);
checker(data_.data() + 2 * 3 * ww, RGB1, RGB2, w, w);
checker(data_.data() + 3 * 3 * ww, RGB1, RGB2, w, w);
checker(data_.data() + 4 * 3 * ww, RGB2, RGB1, w, w);
checker(data_.data() + 5 * 3 * ww, RGB2, RGB1, w, w);
}
// flat
@@ -3721,14 +3726,14 @@ void mjCTexture::BuiltinCube(void) {
for (int r = 0; r < w; r++) {
for (int c = 0; c < w; c++) {
// set sides and up
memcpy(data.data() + 0 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data.data() + 1 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data.data() + 2 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data.data() + 4 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data.data() + 5 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data_.data() + 0 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data_.data() + 1 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data_.data() + 2 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data_.data() + 4 * 3 * ww + 3 * (r * w + c), RGB1, 3);
memcpy(data_.data() + 5 * 3 * ww + 3 * (r * w + c), RGB1, 3);
// set down
memcpy(data.data() + 3 * 3 * ww + 3 * (r * w + c), RGB2, 3);
memcpy(data_.data() + 3 * 3 * ww + 3 * (r * w + c), RGB2, 3);
}
}
}
@@ -3739,12 +3744,12 @@ void mjCTexture::BuiltinCube(void) {
if (mark == mjMARK_EDGE) {
for (int j = 0; j < 6; j++) {
for (int r = 0; r < w; r++) {
memcpy(data.data() + j * 3 * ww + 3 * (r * w + 0), RGBm, 3);
memcpy(data.data() + j * 3 * ww + 3 * (r * w + w - 1), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * (r * w + 0), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * (r * w + w - 1), RGBm, 3);
}
for (int c = 0; c < w; c++) {
memcpy(data.data() + j * 3 * ww + 3 * (0 * w + c), RGBm, 3);
memcpy(data.data() + j * 3 * ww + 3 * ((w - 1) * w + c), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * (0 * w + c), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * ((w - 1) * w + c), RGBm, 3);
}
}
}
@@ -3753,17 +3758,17 @@ void mjCTexture::BuiltinCube(void) {
else if (mark == mjMARK_CROSS) {
for (int j = 0; j < 6; j++) {
for (int r = 0; r < w; r++) {
memcpy(data.data() + j * 3 * ww + 3 * (r * w + w / 2), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * (r * w + w / 2), RGBm, 3);
}
for (int c = 0; c < w; c++) {
memcpy(data.data() + j * 3 * ww + 3 * (w / 2 * w + c), RGBm, 3);
memcpy(data_.data() + j * 3 * ww + 3 * (w / 2 * w + c), RGBm, 3);
}
}
}
// random dots
else if (mark == mjMARK_RANDOM && random > 0) {
randomdot(data.data(), markrgb, w, height, random);
randomdot(data_.data(), markrgb, w, height, random);
}
}
@@ -3928,12 +3933,12 @@ void mjCTexture::Load2D(std::string filename, const mjVFS* vfs) {
throw mjCError(this, "Texture too large");
}
try {
data.assign(nchannel*size, 0);
data_.assign(nchannel*size, std::byte(0));
} catch (const std::bad_alloc& e) {
throw mjCError(this, "Could not allocate memory for texture '%s' (id %d)",
(const char*)file_.c_str(), id);
}
memcpy(data.data(), image.data(), nchannel*size);
memcpy(data_.data(), image.data(), nchannel*size);
image.clear();
}
@@ -3975,7 +3980,7 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
throw mjCError(this, "Cube texture too large");
}
try {
data.assign(3*size, 0);
data_.assign(3*size, std::byte(0));
} catch (const std::bad_alloc& e) {
throw mjCError(this,
"Could not allocate memory for texture '%s' (id %d)",
@@ -3984,7 +3989,7 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
// copy: repeated
if (gridsize[0]==1 && gridsize[1]==1) {
memcpy(data.data(), image.data(), 3*width*width);
memcpy(data_.data(), image.data(), 3*width*width);
}
// copy: grid
@@ -4017,7 +4022,7 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
int rstart = width*(k/gridsize[1]);
int cstart = width*(k%gridsize[1]);
for (int j=0; j<width; j++) {
memcpy(data.data()+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
memcpy(data_.data()+i*3*width*width+j*3*width, image.data()+(j+rstart)*3*w+3*cstart, 3*width);
}
// mark as defined
@@ -4031,7 +4036,7 @@ void mjCTexture::LoadCubeSingle(std::string filename, const mjVFS* vfs) {
for (int k=0; k<width; k++) {
for (int s=0; s<width; s++) {
for (int j=0; j<3; j++) {
data[i*3*width*width + 3*(k*width+s) + j] = (mjtByte)(255*rgb1[j]);
data_[i*3*width*width + 3*(k*width+s) + j] = (std::byte)(255*rgb1[j]);
}
}
}
@@ -4073,7 +4078,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// first file: set size and allocate data
if (data.empty()) {
if (data_.empty()) {
width = w;
if (width >= std::numeric_limits<int>::max()/6) {
throw mjCError(this, "Invalid width of builtin texture");
@@ -4084,7 +4089,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
throw mjCError(this, "PNG texture too large");
}
try {
data.assign(3*size, 0);
data_.assign(3*size, std::byte(0));
} catch (const std::bad_alloc& e) {
throw mjCError(this, "Could not allocate memory for texture");
}
@@ -4098,7 +4103,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
}
// copy data
memcpy(data.data()+i*3*width*width, image.data(), 3*width*width);
memcpy(data_.data()+i*3*width*width, image.data(), 3*width*width);
image.clear();
// mark as defined
@@ -4112,7 +4117,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
for (int k=0; k<width; k++) {
for (int s=0; s<width; s++) {
for (int j=0; j<3; j++) {
data[i*3*width*width + 3*(k*width+s) + j] = (mjtByte)(255*rgb1[j]);
data_[i*3*width*width + 3*(k*width+s) + j] = (std::byte)(255*rgb1[j]);
}
}
}
@@ -4126,8 +4131,17 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
void mjCTexture::Compile(const mjVFS* vfs) {
CopyFromSpec();
// buffer from user
if (!data_.empty()) {
if (data_.size() != nchannel*width*height) {
throw mjCError(this, "Texture buffer has incorrect size, given %d expected %d", nullptr,
data_.size(), nchannel * width * height);
}
return;
}
// builtin
if (builtin != mjBUILTIN_NONE) {
else if (builtin != mjBUILTIN_NONE) {
// check width
if (width<1) {
throw mjCError(this, "Invalid width of builtin texture");
@@ -4151,7 +4165,7 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// allocate data
try {
data.assign(nchannel*size, 0);
data_.assign(nchannel*size, std::byte(0));
} catch (const std::bad_alloc& e) {
throw mjCError(this, "Could not allocate memory for texture");
}
@@ -4208,9 +4222,12 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// make sure someone allocated data; SHOULD NOT OCCUR
if (data.empty()) {
if (data_.empty()) {
throw mjCError(this, "texture '%s' (id %d) was not specified", name.c_str(), id);
}
// if recompiled is called, clear data_ first
clear_data_ = true;
}