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Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom.

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PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
This commit is contained in:
Alessio Quaglino
2024-01-10 09:55:58 -08:00
committed by Copybara-Service
parent 42515033a7
commit 889353dfa8
6 changed files with 57 additions and 58 deletions
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src/user/user_model.cc
+14 -14
View File
@@ -667,22 +667,22 @@ void mjCModel::IndexAssets(void) {
}
// find mesh by name
if (!pgeom->mesh.empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->mesh);
if (!pgeom->meshname.empty()) {
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->meshname);
if (m) {
pgeom->meshid = m->id;
pgeom->mesh = (mjCMesh*)m;
} else {
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->mesh.c_str(), i);
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->meshname.c_str(), i);
}
}
// find hfield by name
if (!pgeom->hfield.empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfield);
if (!pgeom->hfieldname.empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfieldname);
if (m) {
pgeom->hfieldid = m->id;
pgeom->hfield = (mjCHField*)m;
} else {
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfield.c_str(), i);
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->hfieldname.c_str(), i);
}
}
}
@@ -1515,10 +1515,10 @@ void mjCModel::CopyTree(mjModel* m) {
m->geom_conaffinity[gid] = pg->conaffinity;
m->geom_condim[gid] = pg->condim;
m->geom_bodyid[gid] = pg->body->id;
if (pg->meshid>=0) {
m->geom_dataid[gid] = pg->meshid;
} else if (pg->hfieldid>=0) {
m->geom_dataid[gid] = pg->hfieldid;
if (pg->mesh) {
m->geom_dataid[gid] = pg->mesh->id;
} else if (pg->hfield) {
m->geom_dataid[gid] = pg->hfield->id;
} else {
m->geom_dataid[gid] = -1;
}
@@ -2710,9 +2710,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// mark meshes that need convex hull
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
if (geoms[i]->mesh && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
meshes[geoms[i]->meshid]->set_needhull(true);
geoms[i]->mesh->set_needhull(true);
}
}
src/user/user_objects.cc
+32 -34
View File
@@ -1317,7 +1317,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
fluid[i] = 0;
}
density = 1000; // water density (1000 kg / m^3)
mesh.clear();
meshname.clear();
fitscale = 1;
material.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
@@ -1333,8 +1333,8 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
mjuu_setvec(inertia, 0, 0, 0);
body = 0;
matid = -1;
meshid = -1;
hfieldid = -1;
mesh = nullptr;
hfield = nullptr;
// reset to default if given
if (_def) {
@@ -1360,12 +1360,11 @@ double mjCGeom::GetVolume(void) {
// get from mesh
if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
if (meshid<0 || meshid>=(int)model->meshes.size()) {
throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
}
mjCMesh* pmesh = model->meshes[meshid];
return pmesh->GetVolumeRef(typeinertia);
return mesh->GetVolumeRef(typeinertia);
}
// compute from geom shape
@@ -1416,12 +1415,11 @@ void mjCGeom::SetInertia(void) {
// get from mesh
if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
if (meshid<0 || meshid>=(int)model->meshes.size()) {
throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
}
mjCMesh* pmesh = model->meshes[meshid];
double* boxsz = pmesh->GetInertiaBoxPtr(typeinertia);
double* boxsz = mesh->GetInertiaBoxPtr(typeinertia);
inertia[0] = mass*(boxsz[1]*boxsz[1] + boxsz[2]*boxsz[2]) / 3;
inertia[1] = mass*(boxsz[0]*boxsz[0] + boxsz[2]*boxsz[2]) / 3;
inertia[2] = mass*(boxsz[0]*boxsz[0] + boxsz[1]*boxsz[1]) / 3;
@@ -1488,7 +1486,7 @@ double mjCGeom::GetRBound(void) {
switch (type) {
case mjGEOM_HFIELD:
hsize = model->hfields[hfieldid]->size;
hsize = hfield->size;
return sqrt(hsize[0]*hsize[0] + hsize[1]*hsize[1] +
mjMAX(hsize[2]*hsize[2], hsize[3]*hsize[3]));
@@ -1509,7 +1507,7 @@ double mjCGeom::GetRBound(void) {
case mjGEOM_MESH:
case mjGEOM_SDF:
aamm = model->meshes[meshid]->aamm();
aamm = mesh->aamm();
haabb[0] = mju_max(fabs(aamm[0]), fabs(aamm[3]));
haabb[1] = mju_max(fabs(aamm[1]), fabs(aamm[4]));
haabb[2] = mju_max(fabs(aamm[2]), fabs(aamm[5]));
@@ -1638,12 +1636,12 @@ void mjCGeom::ComputeAABB(void) {
double aamm[6]; // axis-aligned bounding box in (min, max) format
switch (type) {
case mjGEOM_HFIELD:
aamm[0] = -model->hfields[hfieldid]->size[0];
aamm[1] = -model->hfields[hfieldid]->size[1];
aamm[2] = -model->hfields[hfieldid]->size[3];
aamm[3] = model->hfields[hfieldid]->size[0];
aamm[4] = model->hfields[hfieldid]->size[1];
aamm[5] = model->hfields[hfieldid]->size[2];
aamm[0] = -hfield->size[0];
aamm[1] = -hfield->size[1];
aamm[2] = -hfield->size[3];
aamm[3] = hfield->size[0];
aamm[4] = hfield->size[1];
aamm[5] = hfield->size[2];
break;
case mjGEOM_SPHERE:
@@ -1665,7 +1663,7 @@ void mjCGeom::ComputeAABB(void) {
case mjGEOM_MESH:
case mjGEOM_SDF:
mjuu_copyvec(aamm, model->meshes[meshid]->aamm(), 6);
mjuu_copyvec(aamm, mesh->aamm(), 6);
break;
case mjGEOM_PLANE:
@@ -1711,12 +1709,12 @@ void mjCGeom::Compile(void) {
}
// check mesh
if ((type==mjGEOM_MESH || type==mjGEOM_SDF) && meshid<0) {
if ((type==mjGEOM_MESH || type==mjGEOM_SDF) && !mesh) {
throw mjCError(this, "mesh geom '%s' (id = %d) must have valid meshid", name.c_str(), id);
}
// check hfield
if ((type==mjGEOM_HFIELD && hfieldid<0) || (type!=mjGEOM_HFIELD && hfieldid>=0)) {
if ((type==mjGEOM_HFIELD && !hfield) || (type!=mjGEOM_HFIELD && hfield)) {
throw mjCError(this, "hfield geom '%s' (id = %d) must have valid hfieldid", name.c_str(), id);
}
@@ -1783,25 +1781,25 @@ void mjCGeom::Compile(void) {
}
// mesh: accumulate frame, fit geom if needed
if (meshid!=-1) {
if (mesh) {
// check for inapplicable fromto
if (mjuu_defined(fromto[0])) {
throw mjCError(this, "fromto cannot be used with mesh geom '%s' (id = %d)", name.c_str(), id);
}
// get associated mesh
mjCMesh* pmesh = model->meshes[meshid];
// save reference in case this is not an mjGEOM_MESH
mjCMesh* pmesh = mesh;
// fit geom if type is not mjGEOM_MESH
double meshpos[3];
if (type!=mjGEOM_MESH && type!=mjGEOM_SDF) {
pmesh->FitGeom(this, meshpos);
mesh->FitGeom(this, meshpos);
// remove reference to mesh
mesh.clear();
meshid = -1;
meshname.clear();
mesh = nullptr;
} else {
mjuu_copyvec(meshpos, pmesh->GetPosPtr(typeinertia), 3);
mjuu_copyvec(meshpos, mesh->GetPosPtr(typeinertia), 3);
}
// apply geom pos/quat as offset
@@ -1815,12 +1813,12 @@ void mjCGeom::Compile(void) {
// set hfield sizes in geom.size
if (type==mjGEOM_HFIELD) {
size[0] = model->hfields[hfieldid]->size[0];
size[1] = model->hfields[hfieldid]->size[1];
size[2] = 0.5*(0.5*model->hfields[hfieldid]->size[2] +
model->hfields[hfieldid]->size[3]);
size[0] = hfield->size[0];
size[1] = hfield->size[1];
size[2] = 0.5*(0.5*hfield->size[2] +
hfield->size[3]);
} else if (type==mjGEOM_MESH || type==mjGEOM_SDF) {
const double* aamm = model->meshes[meshid]->aamm();
const double* aamm = mesh->aamm();
size[0] = mju_max(fabs(aamm[0]), fabs(aamm[3]));
size[1] = mju_max(fabs(aamm[1]), fabs(aamm[4]));
size[2] = mju_max(fabs(aamm[2]), fabs(aamm[5]));
src/user/user_objects.h
+5 -4
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@@ -36,6 +36,7 @@ class mjCGeom;
class mjCSite;
class mjCCamera;
class mjCLight;
class mjCHField;
class mjCFlex; // defined in user_mesh
class mjCMesh; // defined in user_mesh
class mjCSkin; // defined in user_mesh
@@ -397,8 +398,8 @@ class mjCGeom : public mjCBase {
mjtNum fluid_switch; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // tunable ellipsoid-fluid interaction coefs
mjtNum fluid[mjNFLUID]; // compile-time fluid-interaction parameters
std::string hfield; // hfield attached to geom
std::string mesh; // mesh attached to geom
std::string hfieldname; // hfield attached to geom
std::string meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
std::string material; // name of material used for rendering
std::vector<double> userdata; // user data
@@ -423,8 +424,8 @@ class mjCGeom : public mjCBase {
void ComputeAABB(void); // compute axis-aligned bounding box
int matid; // id of geom's material
int meshid; // id of geom's mesh (-1: none)
int hfieldid; // id of geom's hfield (-1: none)
mjCMesh* mesh; // geom's mesh
mjCHField* hfield; // geom's hfield
double mass; // mass
double inertia[3]; // local diagonal inertia
double aabb[6]; // axis-aligned bounding box (center, size)
src/xml/xml_native_reader.cc
+2 -2
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@@ -1525,8 +1525,8 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
ReadAttr(elem, "solimp", mjNIMP, pgeom->solimp, text, false, false);
ReadAttr(elem, "margin", 1, &pgeom->margin, text);
ReadAttr(elem, "gap", 1, &pgeom->gap, text);
ReadAttrTxt(elem, "hfield", pgeom->hfield);
ReadAttrTxt(elem, "mesh", pgeom->mesh);
ReadAttrTxt(elem, "hfield", pgeom->hfieldname);
ReadAttrTxt(elem, "mesh", pgeom->meshname);
ReadAttr(elem, "fitscale", 1, &pgeom->fitscale, text);
ReadAttrTxt(elem, "material", pgeom->material);
ReadAttr(elem, "rgba", 4, pgeom->rgba, text);
src/xml/xml_native_writer.cc
+3 -3
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@@ -347,7 +347,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// mesh geom
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
mjCMesh* pmesh = model->meshes[pgeom->meshid];
mjCMesh* pmesh = pgeom->mesh;
// write pos/quat if there is a difference
if (!SameVector(pgeom->pos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
@@ -403,10 +403,10 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
// hfield and mesh attributes
if (pgeom->type==mjGEOM_HFIELD) {
WriteAttrTxt(elem, "hfield", pgeom->hfield);
WriteAttrTxt(elem, "hfield", pgeom->hfieldname);
}
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
WriteAttrTxt(elem, "mesh", pgeom->mesh);
WriteAttrTxt(elem, "mesh", pgeom->meshname);
}
// userdata
src/xml/xml_urdf.cc
+1 -1
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@@ -573,7 +573,7 @@ mjCGeom* mjXURDF::Geom(XMLElement* geom_elem, mjCBody* pbody, bool collision) {
// set fields
pmesh->set_file(meshfile);
pmesh->name = meshname;
pgeom->mesh = meshname;
pgeom->meshname = meshname;
pmesh->set_scale(meshscale);
}