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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_objects.h
+11 -11
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@@ -98,9 +98,9 @@ class mjCBoundingVolume {
int contype; // contact type
int conaffinity; // contact affinity
const mjtNum* aabb; // axis-aligned bounding box (center, size)
const mjtNum* pos; // position (set by user or Compile1)
const mjtNum* quat; // orientation (set by user or Compile1)
const double* aabb; // axis-aligned bounding box (center, size)
const double* pos; // position (set by user or Compile1)
const double* quat; // orientation (set by user or Compile1)
const int* GetId() const { if (id_) return id_; else return &idval_; }
void SetId(const int* id) { id_ = id; }
@@ -134,7 +134,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
// make bounding volume hierarchy
void CreateBVH(void);
void Set(mjtNum ipos_element[3], mjtNum iquat_element[4]);
void Set(double ipos_element[3], double iquat_element[4]);
void AllocateBoundingVolumes(int nleaf);
void RemoveInactiveVolumes(int nmax);
mjCBoundingVolume* GetBoundingVolume(int id);
@@ -144,7 +144,7 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
struct BVElement {
const mjCBoundingVolume* e;
// position of the element in the BVH axes
mjtNum lpos[3];
double lpos[3];
};
struct BVElementCompare {
@@ -231,8 +231,8 @@ class mjCBody_ : public mjCBase {
int contype; // OR over geom contypes
int conaffinity; // OR over geom conaffinities
double margin; // MAX over geom margins
mjtNum xpos0[3]; // global position in qpos0
mjtNum xquat0[4]; // global orientation in qpos0
double xpos0[3]; // global position in qpos0
double xquat0[4]; // global orientation in qpos0
// used internally by compiler
int lastdof; // id of last dof
@@ -664,20 +664,20 @@ class mjCFlex_ : public mjCBase {
std::vector<int> shell; // shell fragment vertex ids (dim per fragment)
std::vector<int> elemlayer; // element layer (distance from border)
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
std::vector<double> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::vector<mjtNum> elemaabb_; // element bounding volume
std::vector<double> elemaabb_; // element bounding volume
// variable-size data
std::vector<std::string> vertbody_; // vertex body names
std::vector<mjtNum> vert_; // vertex positions
std::vector<double> vert_; // vertex positions
std::vector<int> elem_; // element vertex ids
std::vector<float> texcoord_; // vertex texture coordinates
std::string material_; // name of material used for rendering
std::string spec_material_;
std::vector<std::string> spec_vertbody_;
std::vector<mjtNum> spec_vert_;
std::vector<double> spec_vert_;
std::vector<int> spec_elem_;
std::vector<float> spec_texcoord_;
};