chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjModel and mjData arguments to mj_makeModel and mj_makeRawData. If they are NULL, then the functions allocate the memory, otherwise they will use the memory allocated by the caller.

Browse Source 
PiperOrigin-RevId: 639283021
Change-Id: I765f95fe1b5c27202ae033b05a13ae7b5fb8dbc3
This commit is contained in:
Alessio Quaglino
2024-06-01 01:07:50 -07:00
committed by Copybara-Service
parent 814deb0e9f
commit 936866be0f
3 changed files with 127 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+12 -11
View File
@@ -3303,16 +3303,17 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
}
// create low-level model
m = mj_makeModel(nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,
nuser_body, nuser_jnt, nuser_geom, nuser_site, nuser_cam,
nuser_tendon, nuser_actuator, nuser_sensor, nnames, npaths);
if (!m) {
throw mjCError(0, "could not create mjModel");
}
@@ -3464,7 +3465,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// create data
int disableflags = m->opt.disableflags;
m->opt.disableflags |= mjDSBL_CONTACT;
d = mj_makeRawData(m);
mj_makeRawData(&d, m);
if (!d) {
mj_deleteModel(m);
throw mjCError(0, "could not create mjData");