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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_flexcomp.cc
+12 -17
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@@ -14,6 +14,7 @@
#include <algorithm>
#include <climits>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstring>
@@ -29,10 +30,7 @@
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_resource.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_util_spatial.h"
#include "user/user_flexcomp.h"
#include <mujoco/mjspec.h>
#include "user/user_model.h"
@@ -250,12 +248,9 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// apply pose transform to points
mjtNum posn[3], quatn[4];
mju_d2n(posn, pos, 3);
mju_d2n(quatn, quat, 4);
for (int i=0; i < npnt; i++) {
mjtNum newp[3], oldp[3] = {point[3*i], point[3*i+1], point[3*i+2]};
mju_trnVecPose(newp, posn, quatn, oldp);
double newp[3], oldp[3] = {point[3*i], point[3*i+1], point[3*i+2]};
mjuu_trnVecPose(newp, pos, quat, oldp);
point[3*i] = newp[0];
point[3*i+1] = newp[1];
point[3*i+2] = newp[2];
@@ -570,7 +565,7 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
int quad2tri[2][3] = {{0, 1, 2}, {0, 2, 3}};
// add point
mjtNum pos[2] = {spacing[0]*(ix - 0.5*(count[0]-1)),
double pos[2] = {spacing[0]*(ix - 0.5*(count[0]-1)),
spacing[1]*(iy - 0.5*(count[1]-1))};
point.push_back(pos[0]);
point.push_back(pos[1]);
@@ -578,8 +573,8 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
// add texture coordinates, if not specified explicitly
if (!hastex) {
texcoord.push_back(ix/(mjtNum)mjMAX(count[0]-1, 1));
texcoord.push_back(iy/(mjtNum)mjMAX(count[1]-1, 1));
texcoord.push_back(ix/(double)std::max(count[0]-1, 1));
texcoord.push_back(iy/(double)std::max(count[1]-1, 1));
}
// flip triangles if radial projection is requested
@@ -713,7 +708,7 @@ void mjCFlexcomp::BoxProject(double* pos, int ix, int iy, int iz) {
// cylinder
else if (type==mjFCOMPTYPE_CYLINDER) {
double L0 = mjMAX(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;
@@ -749,8 +744,8 @@ bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
};
for (int i=0; i < point.size()/3; i++) {
mjtNum* pos = point.data() + i*3;
double L0 = mjMAX(mju_abs(pos[0]), mju_abs(pos[1]));
double* pos = point.data() + i*3;
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;
@@ -952,10 +947,10 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
// copy faces
element = mesh.face_;
// copy vertices, convert from float to mjtNum
point = vector<mjtNum> (mesh.nvert()*3);
// copy vertices, convert from float to double
point = vector<double> (mesh.nvert()*3);
for (int i=0; i < mesh.nvert()*3; i++) {
point[i] = (mjtNum) mesh.vert_[i];
point[i] = (double) mesh.vert_[i];
}
return true;