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Add mjs_makeMesh to create a builtin mesh.

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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
This commit is contained in:
Alessio Quaglino
2025-07-29 11:30:19 -07:00
committed by Copybara-Service
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
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doc/APIreference/functions.rst
+9
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@@ -4074,6 +4074,15 @@ Add texture.
Add material.
.. _mjs_makeMesh:
`mjs_makeMesh <#mjs_makeMesh>`__
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.. mujoco-include:: mjs_makeMesh
Sets the vertices and normals of a mesh.
.. _FindAndGetUtilities:
Find and get utilities
doc/XMLreference.rst
+54
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@@ -1323,6 +1323,60 @@ The full list of processing steps applied by the compiler to each mesh is as fol
Reference orientation relative to which the 3D vertex coordinates and normals are defined. The conjugate of this
quaternion is used to rotate the positions and normals. The model compiler normalizes the quaternion automatically.
.. _asset-mesh-builtin:
:at:`builtin`: :at-val:`string, optional`
The mesh is generated by the compiler from a set of parameters specified in :ref:`params<asset-mesh-params>`.
When saved to XML, meshes produced this way are converted to explicit vertices.
The available built-in types, their parameters and semantics are:
:at-val:`sphere` (subdivision)
Repeated subdivisions :math:`s` of a unit icosahedron. Has :math:`2 + 10 \cdot 4^s` vertices.
**subdivision**: integer in [0-4]: The number of subdivisions to apply to icosahedron faces.
:at-val:`hemisphere` (subdivision)
Repeated subdivisions :math:`s` of a square-based pyramid. Has :math:`1 + 2(s+1)(s+2)` vertices.
**subdivision**: integer in [0-10]: The number of subdivisions to apply to the pyramid.
:at-val:`prism` (nvert)
An extruded regular unit polygon.
**nvert**: integer >= 3: The number vertices in the polygon.
:at-val:`cone` (nvert)
The convex hull of a regular unit polygon and the vertex (0, 0, 1).
**nvert**: integer >= 3: The number vertices in the polygon.
:at-val:`torus` (radius, resolution)
A torus with major radius of 1 and given minor radius.
**radius**: real in (0, 1]: The minor radius of the torus.
|br| **resolution** integer >= 4: The discretization of both major and minor radii.
:at-val:`wedge` (res_phi, res_theta, fov_phi, fov_theta, gamma)
A slice of a unit spherical shell in spherical coordinates.
**res_phi**: integer >= 0: The vertical resolution of the slice.
|br| **res_theta**: integer >= 0: The horizontal resolution of the slice.
|br| **fov_phi**: real in (0, 180]: The horizontal field of view (longitude) in degrees.
|br| **fov_phi**: real in (0, 90): The vertical field of view (latitude) in degrees.
|br| **gamma**: real in [0, 1]: Foveal deformation of the discretization.
:at-val:`plate` (res_x, res_y)
A rectangular plate with resolution in each dimension.
**res_x**: integer > 0: The horizontal resolution of the plate.
|br| **res_y**: integer > 0: The vertical resolution of the plate.
.. _asset-mesh-params:
:at:`params`: :at-val:`real(nparam), optional`
The parameters used to generate a builtin mesh. The number and type of parameters and their semantic depends on the
mesh type. See :ref:`mesh/builtin<asset-mesh-builtin>` for details.
.. _mesh-plugin:
:el-prefix:`mesh/` |-| **plugin** (?)
doc/XMLschema.rst
+1 -1
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@@ -103,7 +103,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refpos<asset-mesh-refpos>` | :ref:`refquat<asset-mesh-refquat>` | :ref:`scale<asset-mesh-scale>` | :ref:`smoothnormal<asset-mesh-smoothnormal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | :ref:`inertia<asset-mesh-inertia>` | | | |
| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | :ref:`inertia<asset-mesh-inertia>` | :ref:`builtin<asset-mesh-builtin>` | :ref:`params<asset-mesh-params>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| mesh |br| |_2| |L| | | .. table:: |
doc/changelog.rst
+1
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@@ -15,6 +15,7 @@ General
- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.
- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
doc/includes/references.h
+11
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@@ -1781,6 +1781,16 @@ typedef enum mjtMeshInertia_ { // type of mesh inertia
mjMESH_INERTIA_LEGACY, // legacy mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
mjMESH_BUILTIN_PRISM, // prism
mjMESH_BUILTIN_CONE, // cone
mjMESH_BUILTIN_TORUS, // torus
mjMESH_BUILTIN_WEDGE, // wedge
mjMESH_BUILTIN_PLATE, // plate
} mjtMeshBuiltin;
typedef enum mjtBuiltin_ { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
mjBUILTIN_GRADIENT, // gradient: rgb1->rgb2
@@ -3457,6 +3467,7 @@ mjsHField* mjs_addHField(mjSpec* s);
mjsSkin* mjs_addSkin(mjSpec* s);
mjsTexture* mjs_addTexture(mjSpec* s);
mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
mjSpec* mjs_getSpec(mjsElement* element);
mjSpec* mjs_findSpec(mjSpec* spec, const char* name);
mjsBody* mjs_findBody(mjSpec* s, const char* name);
include/mujoco/mjspec.h
+10
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@@ -70,6 +70,16 @@ typedef enum mjtMeshInertia_ { // type of mesh inertia
mjMESH_INERTIA_SHELL // shell mesh inertia
} mjtMeshInertia;
typedef enum mjtMeshBuiltin_ { // type of built-in procedural mesh
mjMESH_BUILTIN_NONE = 0, // no built-in mesh
mjMESH_BUILTIN_SPHERE, // sphere
mjMESH_BUILTIN_HEMISPHERE, // hemisphere
mjMESH_BUILTIN_PRISM, // prism
mjMESH_BUILTIN_CONE, // cone
mjMESH_BUILTIN_TORUS, // torus
mjMESH_BUILTIN_WEDGE, // wedge
mjMESH_BUILTIN_PLATE, // plate
} mjtMeshBuiltin;
typedef enum mjtBuiltin_ { // type of built-in procedural texture
mjBUILTIN_NONE = 0, // no built-in texture
include/mujoco/mujoco.h
+2
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@@ -1545,6 +1545,8 @@ MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
// Sets the vertices and normals of a mesh.
MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
//---------------------------------- Find and get utilities ----------------------------------------
python/mujoco/introspect/enums.py
+15
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@@ -791,6 +791,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjMESH_INERTIA_SHELL', 3),
]),
)),
('mjtMeshBuiltin',
EnumDecl(
name='mjtMeshBuiltin',
declname='enum mjtMeshBuiltin_',
values=dict([
('mjMESH_BUILTIN_NONE', 0),
('mjMESH_BUILTIN_SPHERE', 1),
('mjMESH_BUILTIN_HEMISPHERE', 2),
('mjMESH_BUILTIN_PRISM', 3),
('mjMESH_BUILTIN_CONE', 4),
('mjMESH_BUILTIN_TORUS', 5),
('mjMESH_BUILTIN_WEDGE', 6),
('mjMESH_BUILTIN_PLATE', 7),
]),
)),
('mjtBuiltin',
EnumDecl(
name='mjtBuiltin',
python/mujoco/introspect/functions.py
+28
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@@ -9869,6 +9869,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Add material.',
)),
('mjs_makeMesh',
FunctionDecl(
name='mjs_makeMesh',
return_type=ValueType(name='int'),
parameters=(
FunctionParameterDecl(
name='mesh',
type=PointerType(
inner_type=ValueType(name='mjsMesh'),
),
),
FunctionParameterDecl(
name='builtin',
type=ValueType(name='mjtMeshBuiltin'),
),
FunctionParameterDecl(
name='params',
type=PointerType(
inner_type=ValueType(name='double'),
),
),
FunctionParameterDecl(
name='nparams',
type=ValueType(name='int'),
),
),
doc='Sets the vertices and normals of a mesh.',
)),
('mjs_getSpec',
FunctionDecl(
name='mjs_getSpec',
python/mujoco/specs.cc
+32
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@@ -1001,6 +1001,38 @@ PYBIND11_MODULE(_specs, m) {
mjs_setDefault(self.element, &default_);
},
py::return_value_policy::reference_internal);
mjsMesh.def(
"make_wedge",
[](raw::MjsMesh* self, std::array<int, 2>& resolution, double radius,
std::array<double, 2>& fov, double gamma) {
double params[5] = {static_cast<double>(resolution[0]),
static_cast<double>(resolution[1]), fov[0], fov[1],
gamma};
if (mjs_makeMesh(self, mjMESH_BUILTIN_WEDGE, params, 5)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("resolution") = std::array<int, 2>{0, 0}, py::arg("radius"),
py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);
mjsMesh.def(
"make_prism",
[](raw::MjsMesh* self, int nedge) {
double params[1] = {static_cast<double>(nedge)};
if (mjs_makeMesh(self, mjMESH_BUILTIN_PRISM, params, 1)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("nedge"));
mjsMesh.def(
"make_plate",
[](raw::MjsMesh* self, std::array<int, 2>& resolution) {
double params[2] = {static_cast<double>(resolution[0]),
static_cast<double>(resolution[1])};
if (mjs_makeMesh(self, mjMESH_BUILTIN_PLATE, params, 2)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("resolution") = std::array<int, 2>{0, 0});
// ============================= MJSPAIR =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {
python/mujoco/specs_test.py
+8
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@@ -484,6 +484,14 @@ class SpecsTest(absltest.TestCase):
# Check that the state is the same.
np.testing.assert_array_equal(state1, state2)
def test_make_mesh(self):
spec = mujoco.MjSpec()
mesh = spec.add_mesh(name='wedge')
mesh.make_wedge(resolution=[25, 25], radius=1, fov=[90, 45], gamma=0)
model = spec.compile()
self.assertEqual(model.nmesh, 1)
self.assertEqual(model.nmeshvert, 25 * 25)
def test_compile_errors_with_line_info(self):
spec = mujoco.MjSpec()
src/user/user_api.cc
+63 -2
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@@ -16,6 +16,7 @@
#include <algorithm>
#include <cstddef>
#include <cstring>
#include <functional>
#include <iterator>
#include <map>
@@ -27,9 +28,9 @@
#include <mujoco/mujoco.h>
#include "engine/engine_support.h"
#include "user/user_cache.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_cache.h"
#include "user/user_util.h"
namespace {
@@ -500,7 +501,67 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* defspec) {
return &material->spec;
}
// Sets the vertices and normals of a mesh.
int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams) {
mjCMesh* meshC = static_cast<mjCMesh*>(mesh->element);
mjCModel* m = meshC->model;
if (builtin == mjMESH_BUILTIN_WEDGE) {
if (nparams != 5) {
m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));
return -1;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
double fov[2] = {params[2], params[3]};
double gamma = params[4];
if (fov[0] <= 0 || fov[0] > 180) {
m->SetError(
mjCError(0, "fov[0] must be a float between (0, 180] degrees"));
return -1;
}
if (fov[1] <= 0 || fov[1] > 90) {
m->SetError(
mjCError(0, "`fov[1]` must be a float between (0, 90] degrees"));
return -1;
}
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(
mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
if (gamma < 0 || gamma > 1) {
m->SetError(
mjCError(0, "`gamma` must be a nonnegative float between [0, 1]"));
return -1;
}
meshC->MakeWedge(resolution, fov, gamma);
return 0;
} else if (builtin == mjMESH_BUILTIN_PLATE) {
if (nparams != 2) {
m->SetError(mjCError(0, "Plate builtin mesh type requires 2 parameters"));
return -1;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(
mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
meshC->MakeRect(resolution);
return 0;
} else if (builtin == mjMESH_BUILTIN_PRISM) {
if (nparams != 1) {
m->SetError(mjCError(0, "Prism mesh type requires 1 parameter"));
return -1;
}
int nedge = static_cast<int>(params[0]);
meshC->MakePrism(nedge);
return 0;
}
m->SetError(mjCError(0, "Unsupported mesh type"));
return 1;
}
// add pair to model
mjsPair* mjs_addPair(mjSpec* s, const mjsDefault* defspec) {
src/user/user_api.h
+2
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@@ -209,6 +209,8 @@ MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
// Add material.
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* def);
// Sets the vertices and normals of a mesh.
MJAPI int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams);
//---------------------------------- Find/get utilities --------------------------------------------
src/user/user_mesh.cc
+151 -1
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@@ -75,6 +75,70 @@ namespace {
using mujoco::user::FilePath;
using std::max;
using std::min;
// Parametrized linear/quintic interpolated nonlinearity.
double Fovea(double x, double gamma) {
// Quick return.
if (!gamma) return x;
// Foveal deformation.
double g = mjMAX(0, mjMIN(1, gamma));
return g * std::pow(x, 5) + (1 - g) * x;
}
// Evenly spaced numbers over a specified interval.
void LinSpace(double lower, double upper, int n, double array[]) {
double increment = n > 1 ? (upper - lower) / (n - 1) : 0;
for (int i = 0; i < n; ++i) {
*array = lower;
++array;
lower += increment;
}
}
// Make bin edges.
void BinEdges(double* x_edges, double* y_edges, int size[2], double fov[2],
double gamma) {
// Make unit bin edges.
LinSpace(-1, 1, size[0] + 1, x_edges);
LinSpace(-1, 1, size[1] + 1, y_edges);
// Apply foveal deformation.
for (int i = 0; i < size[0] + 1; i++) {
x_edges[i] = Fovea(x_edges[i], gamma);
}
for (int i = 0; i < size[1] + 1; i++) {
y_edges[i] = Fovea(y_edges[i], gamma);
}
// Scale by field-of-view.
mjuu_scalevec(x_edges, x_edges, fov[0] * mjPI / 180, size[0] + 1);
mjuu_scalevec(y_edges, y_edges, fov[1] * mjPI / 180, size[1] + 1);
}
// Transform spherical (azimuth, elevation, radius) to Cartesian (x,y,z).
void SphericalToCartesian(const double aer[3], float xyz[3]) {
double a = aer[0], e = aer[1], r = aer[2];
xyz[0] = r * std::cos(e) * std::sin(a);
xyz[1] = r * std::sin(e);
xyz[2] = -r * std::cos(e) * std::cos(a);
}
// Tangent frame in Cartesian coordinates.
void TangentFrame(const double aer[3], float mat[9]) {
double a = aer[0], e = aer[1], r = aer[2];
double ta[3] = {r * std::cos(e) * std::cos(a), 0,
r * std::cos(e) * std::sin(a)};
double te[3] = {-r * std::sin(e) * std::sin(a), r * std::cos(e),
r * std::sin(e) * std::cos(a)};
double n[3];
mjuu_normvec(ta, 3);
mjuu_normvec(te, 3);
mjuu_copyvec(mat + 3, ta, 3);
mjuu_copyvec(mat + 6, te, 3);
mjuu_crossvec(n, te, ta);
mjuu_copyvec(mat, n, 3);
}
} // namespace
// compute triangle area, surface normal, center
@@ -1488,7 +1552,11 @@ void mjCMesh::Process() {
// facenormal might not exist if usernormal was specified
if (facenormal_.empty()) {
facenormal_ = face_;
int normal_per_vertex = normal_.size() / vert_.size();
facenormal_.assign(face_.size(), 0);
for (int i = 0; i < face_.size(); i++) {
facenormal_[i] = normal_per_vertex * face_[i];
}
}
MakePolygons();
@@ -1954,7 +2022,89 @@ void mjCMesh::CopyGraph() {
}
}
// make a mesh of a spherical wedge
void mjCMesh::MakeWedge(int resolution[2], double fov[2], double gamma) {
std::vector<double> x_edges(resolution[0] + 1, 0);
std::vector<double> y_edges(resolution[1] + 1, 0);
BinEdges(x_edges.data(), y_edges.data(), resolution, fov, gamma);
std::vector<float> uservert(3 * resolution[0] * resolution[1], 0);
std::vector<float> usernormal(9 * resolution[0] * resolution[1], 0);
for (int i = 0; i < resolution[0]; i++) {
for (int j = 0; j < resolution[1]; j++) {
double aer[3];
aer[0] = 0.5 * (x_edges[i + 1] + x_edges[i]);
aer[1] = 0.5 * (y_edges[j + 1] + y_edges[j]);
aer[2] = 1;
SphericalToCartesian(aer, uservert.data() + 3 * (i * resolution[1] + j));
TangentFrame(aer, usernormal.data() + 9 * (i * resolution[1] + j));
}
}
mjs_setFloat(spec.uservert, uservert.data(),
3 * resolution[0] * resolution[1]);
mjs_setFloat(spec.usernormal, usernormal.data(),
9 * resolution[0] * resolution[1]);
}
// make a mesh of a rectangle
void mjCMesh::MakeRect(int resolution[2]) {
std::vector<double> x_edges(resolution[0] + 1, 0);
std::vector<double> y_edges(resolution[1] + 1, 0);
LinSpace(-1, 1, resolution[0] + 1, x_edges.data());
LinSpace(-1, 1, resolution[1] + 1, y_edges.data());
std::vector<float> uservert(3 * resolution[0] * resolution[1], 0);
std::vector<float> usernormal(9 * resolution[0] * resolution[1], 0);
std::vector<int> userface(6 * (resolution[0] - 1) * (resolution[1] - 1), 0);
spec.inertia = mjMESH_INERTIA_SHELL;
for (int i = 0; i < resolution[0]; i++) {
for (int j = 0; j < resolution[1]; j++) {
int vert = i * resolution[1] + j;
mjtNum dx = 2. / resolution[0];
mjtNum dy = 2. / resolution[1];
uservert[3 * vert + 0] = -1 + (i + 0.5) * dx;
uservert[3 * vert + 1] = -1 + (j + 0.5) * dy;
uservert[3 * vert + 2] = -1;
usernormal[9 * vert + 0] = 1;
usernormal[9 * vert + 4] = 1;
usernormal[9 * vert + 8] = 1;
if (i > 0 && j > 0) {
int cell = (i - 1) * (resolution[1] - 1) + j - 1;
userface[6 * cell + 0] = (i - 1) * resolution[1] + j - 1;
userface[6 * cell + 1] = (i - 0) * resolution[1] + j - 1;
userface[6 * cell + 2] = (i - 1) * resolution[1] + j - 0;
userface[6 * cell + 3] = (i - 0) * resolution[1] + j - 0;
userface[6 * cell + 4] = (i - 1) * resolution[1] + j - 0;
userface[6 * cell + 5] = (i - 0) * resolution[1] + j - 1;
}
}
}
mjs_setFloat(spec.uservert, uservert.data(),
3 * resolution[0] * resolution[1]);
mjs_setFloat(spec.usernormal, usernormal.data(),
9 * resolution[0] * resolution[1]);
mjs_setInt(spec.userface, userface.data(),
6 * (resolution[0] - 1) * (resolution[1] - 1));
}
// make a mesh of a prism
void mjCMesh::MakePrism(int nedge) {
int layer = 2;
std::vector<float> uservert(3 * nedge * layer, 0);
for (int i = 0; i < nedge; i++) {
for (int j = 0; j < layer; j++) {
int v = i * layer + j;
uservert[3 * v + 0] = std::cos(2 * i * mjPI / nedge);
uservert[3 * v + 1] = std::sin(2 * i * mjPI / nedge);
uservert[3 * v + 2] = -1 + 2 * j / (layer - 1);
}
}
mjs_setFloat(spec.uservert, uservert.data(), 3 * nedge * layer);
}
// compute vertex normals
void mjCMesh::MakeNormal() {
src/user/user_objects.h
+5
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@@ -1050,6 +1050,11 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void PointToLocal(void);
void NameSpace(const mjCModel* m);
// make a mesh of a predefined shape
void MakeWedge(int resolution[2], double fov[2], double gamma);
void MakeRect(int resolution[2]);
void MakePrism(int nedge);
// accessors
const mjsPlugin& Plugin() const { return plugin; }
const std::string& ContentType() const { return content_type_; }
src/user/user_util.cc
+6
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@@ -192,6 +192,12 @@ float mjuu_normvec(float* vec, const int n) {
return nrm;
}
// scale vector by scalar
void mjuu_scalevec(double* res, const double* vec, double s, int n) {
for (int i = 0; i < n; i++) {
res[i] = s * vec[i];
}
}
// convert quaternion to rotation matrix
void mjuu_quat2mat(double* res, const double* quat) {
src/user/user_util.h
+3
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@@ -73,6 +73,9 @@ double mjuu_L1(const double* a, const double* b, int n);
double mjuu_normvec(double* vec, int n);
float mjuu_normvec(float* vec, int n);
// scale vector by scalar
void mjuu_scalevec(double* res, const double* vec, double s, int n);
// convert quaternion to rotation matrix
void mjuu_quat2mat(double* res, const double* quat);
src/xml/xml_native_reader.cc
+31 -2
View File
@@ -230,9 +230,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"asset", "*", "0"},
{"<"},
{"mesh", "*", "14", "name", "class", "content_type", "file", "vertex", "normal",
{"mesh", "*", "16", "name", "class", "content_type", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal",
"maxhullvert", "inertia"},
"maxhullvert", "inertia", "builtin", "params"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
@@ -825,6 +825,20 @@ const mjMap meshinertia_map[4] = {
};
// mesh builtin type
const int meshbuiltin_sz = 8;
const mjMap meshbuiltin_map[meshbuiltin_sz] = {
{"none", mjMESH_BUILTIN_NONE},
{"sphere", mjMESH_BUILTIN_SPHERE},
{"hemisphere", mjMESH_BUILTIN_HEMISPHERE},
{"prism", mjMESH_BUILTIN_PRISM},
{"cone", mjMESH_BUILTIN_CONE},
{"torus", mjMESH_BUILTIN_TORUS},
{"wedge", mjMESH_BUILTIN_WEDGE},
{"plate", mjMESH_BUILTIN_PLATE}
};
// flexcomp type
const mjMap fcomp_map[mjNFCOMPTYPES] = {
{"grid", mjFCOMPTYPE_GRID},
@@ -1539,6 +1553,21 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
}
}
// read builtin options
if (MapValue(elem, "builtin", &n, meshbuiltin_map, meshbuiltin_sz)) {
std::vector<double> params;
int nparams = ReadVector(elem, "params", params, text, /*required*/ true);
if (file) {
throw mjXError(elem, "builtin cannot be used with a mesh file");
}
if (!mesh->uservert->empty()) {
throw mjXError(elem, "builtin mesh cannot be used with user vertex data");
}
if (mjs_makeMesh(mesh, (mjtMeshBuiltin)n, params.data(), nparams)) {
throw mjXError(elem, mjs_getError(spec));
}
}
// write error info
mjs_setString(mesh->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
}
test/engine/testdata/collision_convex/perf/spheremesh.xml
Vendored
+1 -643
View File
@@ -40,648 +40,6 @@
</worldbody>
<asset>
<mesh name="sphere" scale=".08 .08 .08"
vertex="0.3996070 0.9129825 0.0823236
0.3996070 0.9129825 -0.0823236
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0.1330711 0.9876884 0.0822425
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0.5877853 0.4253254 0.6881909
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0.4539905 0.4684299 0.7579354
0.3717480 0.6015009 0.7071068
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0.7071068 0.3717480 0.6015009
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0.6015009 0.7071068 0.3717480
0.2960046 0.7023098 0.6474119
0.3461530 0.7834517 0.5161216
0.2130228 0.7926492 0.5712517
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-0.5712517 -0.2130228 -0.7926492"/>
<mesh name="sphere" builtin="wedge" params="25 25 180 90 0" scale=".08 .08 .08"/>
</asset>
</mujoco>
test/user/testdata/makemesh.xml
Vendored
+13
View File
@@ -0,0 +1,13 @@
<mujoco model='makemesh'>
<asset>
<mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
<mesh name="plate" builtin="plate" params="37 37" scale="3 5 2"/>
<mesh name="prism" builtin="prism" params="3"/>
</asset>
<worldbody>
<geom mesh="wedge" type="mesh"/>
<geom mesh="plate" type="mesh" contype="0" conaffinity="0"/>
<geom mesh="prism" type="mesh" pos="0 0 3"/>
</worldbody>
</mujoco>
test/xml/xml_native_reader_test.cc
+112
View File
@@ -2021,6 +2021,118 @@ TEST_F(XMLReaderTest, ReadShellParameter) {
mj_deleteModel(model);
}
// ----------------------- test builtin mesh parsing ---------------------------
TEST_F(XMLReaderTest, ReadWedgeMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, UnsupportedMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="cone" builtin="cone" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cone"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("Unsupported mesh type"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, BuiltinAndFile) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" vertex="0 0 0 1 0 0 0 1 0 0 1 0"
params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("builtin mesh cannot be used with user vertex data"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateNoParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'params'"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateTooFewParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("Plate builtin mesh type requires 2 parameters"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateInvalidParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="-1 -1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("resolutions must be positive"));
mj_deleteModel(model);
}
// ----------------------- test skin parsing --------------------------------
TEST_F(XMLReaderTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>
test/xml/xml_native_writer_test.cc
+1
View File
@@ -1386,6 +1386,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
absl::StrContains(p.path().string(), "shark_") ||
absl::StrContains(p.path().string(), "spheremesh") ||
// exclude files that fail the comparison test
absl::StrContains(p.path().string(), "makemesh") ||
absl::StrContains(p.path().string(), "usd") ||
absl::StrContains(p.path().string(), "torus_maxhull") ||
absl::StrContains(p.path().string(), "fitmesh_") ||
unity/Runtime/Bindings/MjBindings.cs
+10
View File
@@ -496,6 +496,16 @@ public enum mjtMeshInertia : int{
mjMESH_INERTIA_LEGACY = 2,
mjMESH_INERTIA_SHELL = 3,
}
public enum mjtMeshBuiltin : int{
mjMESH_BUILTIN_NONE = 0,
mjMESH_BUILTIN_SPHERE = 1,
mjMESH_BUILTIN_HEMISPHERE = 2,
mjMESH_BUILTIN_PRISM = 3,
mjMESH_BUILTIN_CONE = 4,
mjMESH_BUILTIN_TORUS = 5,
mjMESH_BUILTIN_WEDGE = 6,
mjMESH_BUILTIN_PLATE = 7,
}
public enum mjtBuiltin : int{
mjBUILTIN_NONE = 0,
mjBUILTIN_GRADIENT = 1,