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

PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c

src/user/user_model.cc

@@ -667,22 +667,22 @@ void mjCModel::IndexAssets(void) {
     }
 
     // find mesh by name
-    if (!pgeom->mesh.empty()) {
+    if (!pgeom->meshname.empty()) {
-      mjCBase* m = FindObject(mjOBJ_MESH, pgeom->mesh);
+      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()) {
+    if (!pgeom->hfieldname.empty()) {
-      mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->hfield);
+      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) {
+      if (pg->mesh) {
-        m->geom_dataid[gid] = pg->meshid;
+        m->geom_dataid[gid] = pg->mesh->id;
-      } else if (pg->hfieldid>=0) {
+      } else if (pg->hfield) {
-        m->geom_dataid[gid] = pg->hfieldid;
+        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

@@ -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;
+  mesh = nullptr;
-  hfieldid = -1;
+  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()) {
+    if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
-      throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
+      throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
     }
 
-    mjCMesh* pmesh = model->meshes[meshid];
+    return mesh->GetVolumeRef(typeinertia);
-    return pmesh->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()) {
+    if (mesh->id<0 || !((std::size_t) mesh->id <= model->meshes.size())) {
-      throw mjCError(this, "invalid meshid in mesh geom '%s' (id = %d)", name.c_str(), id);
+      throw mjCError(this, "invalid mesh id in mesh geom '%s' (id = %d)", name.c_str(), id);
     }
 
-    mjCMesh* pmesh = model->meshes[meshid];
+    double* boxsz = mesh->GetInertiaBoxPtr(typeinertia);
-    double* boxsz = pmesh->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[0] = -hfield->size[0];
-    aamm[1] = -model->hfields[hfieldid]->size[1];
+    aamm[1] = -hfield->size[1];
-    aamm[2] = -model->hfields[hfieldid]->size[3];
+    aamm[2] = -hfield->size[3];
-    aamm[3] = model->hfields[hfieldid]->size[0];
+    aamm[3] = hfield->size[0];
-    aamm[4] = model->hfields[hfieldid]->size[1];
+    aamm[4] = hfield->size[1];
-    aamm[5] = model->hfields[hfieldid]->size[2];
+    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
+    // save reference in case this is not an mjGEOM_MESH
-    mjCMesh* pmesh = model->meshes[meshid];
+    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();
+      meshname.clear();
-      meshid = -1;
+      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[0] = hfield->size[0];
-    size[1] = model->hfields[hfieldid]->size[1];
+    size[1] = hfield->size[1];
-    size[2] = 0.5*(0.5*model->hfields[hfieldid]->size[2] +
+    size[2] = 0.5*(0.5*hfield->size[2] +
-                   model->hfields[hfieldid]->size[3]);
+                   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

@@ -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 hfieldname;         // hfield attached to geom
-  std::string mesh;               // mesh 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)
+  mjCMesh* mesh;                  // geom's mesh
-  int hfieldid;                   // id of geom's hfield (-1: none)
+  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

@@ -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, "hfield", pgeom->hfieldname);
-  ReadAttrTxt(elem, "mesh", pgeom->mesh);
+  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

@@ -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

@@ -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);
   }