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Fix type errors in compiler and tests.

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In preparation for a float32 build of MuJoCo.

PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e
This commit is contained in:
Yuval Tassa
2024-06-18 09:11:39 -07:00
committed by Copybara-Service
parent c8cc2d51b0
commit 8e2f830fd2
21 changed files with 715 additions and 506 deletions
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src/user/user_composite.cc
+16 -16
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@@ -31,7 +31,6 @@
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_io.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "user/user_model.h"
@@ -428,12 +427,12 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
}
// compute volume
std::vector<mjtNum> volume(uservert.size()/3);
mjtNum t = 1;
std::vector<double> volume(uservert.size()/3);
double thickness = 1;
if (dim == 2 && plugin.active) {
try {
mjCPlugin* pplugin = static_cast<mjCPlugin*>(plugin.instance);
t = std::stod(pplugin->config_attribs["thickness"], nullptr);
thickness = std::stod(pplugin->config_attribs["thickness"], nullptr);
} catch (const std::invalid_argument& e) {
return comperr(error, "Invalid thickness attribute", error_sz);
}
@@ -441,9 +440,9 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
if (!userface.empty()) {
face = mjXUtil::String2Vector<int>(userface);
for (int j=0; j<face.size()/3; j++) {
mjtNum area[3];
mjtNum edge1[3];
mjtNum edge2[3];
double area[3];
double edge1[3];
double edge2[3];
for (int i=0; i<3; i++) {
edge1[i] = uservert[3*face[3*j+1]+i] - uservert[3*face[3*j]+i];
@@ -452,12 +451,12 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
mjuu_crossvec(area, edge1, edge2);
for (int i=0; i<3; i++) {
volume[face[3*j+i]] += sqrt(mjuu_dot3(area, area)) / 2 * t;
volume[face[3*j+i]] += sqrt(mjuu_dot3(area, area)) / 2 * thickness;
}
}
} else {
for (int i=0; i<uservert.size()/3; i++) {
volume[i] = 6 * spacing * spacing / 2 * t;
volume[i] = 6 * spacing * spacing / 2 * thickness;
}
}
@@ -754,7 +753,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
}
// create frame
mjtNum normal[3], prev_quat[4];
double normal[3], prev_quat[4];
mjuu_setvec(normal, 0, 1, 0);
mjuu_setvec(prev_quat, 1, 0, 0, 0);
@@ -780,10 +779,11 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]) {
mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
double normal[3], double prev_quat[4]) {
char txt_geom[100], txt_site[100], txt_slide[100];
char this_body[100], next_body[100], this_joint[100];
mjtNum dquat[4], this_quat[4];
double dquat[4], this_quat[4];
// set flags
int lastidx = count[0]-2;
@@ -792,7 +792,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtN
bool secondlast = ix==lastidx-1;
// compute edge and tangent vectors
mjtNum edge[3], tprev[3], tnext[3], length_prev = 0;
double edge[3], tprev[3], tnext[3], length_prev = 0;
mjuu_setvec(edge, uservert[3*(ix+1)+0]-uservert[3*ix+0],
uservert[3*(ix+1)+1]-uservert[3*ix+1],
uservert[3*(ix+1)+2]-uservert[3*ix+2]);
@@ -810,7 +810,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtN
}
// update moving frame
mjtNum length = mju_updateFrame(this_quat, normal, edge, tprev, tnext, first);
double length = mjuu_updateFrame(this_quat, normal, edge, tprev, tnext, first);
// create body, joint, and geom names
if (first) {
@@ -845,7 +845,7 @@ mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtN
mjuu_copyvec(body->quat, this_quat, 4);
} else {
mjuu_setvec(body->pos, length_prev, 0, 0);
mjtNum negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
double negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
mjuu_mulquat(dquat, negquat, this_quat);
mjuu_copyvec(body->quat, dquat, 4);
}
@@ -1091,7 +1091,7 @@ void mjCComposite::BoxProject(double* pos) {
// cylinder
else if (type==mjCOMPTYPE_CYLINDER) {
double L0 = mju_max(mju_abs(pos[0]), mju_abs(pos[1]));
double L0 = std::max(std::abs(pos[0]), std::abs(pos[1]));
mjuu_normvec(pos, 2);
pos[0] *= size[0]*L0;
pos[1] *= size[1]*L0;