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Add SetNuser function.

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PiperOrigin-RevId: 619892712
Change-Id: Id528620d6af19976d965f34a3be95a48a1f9c0b2
This commit is contained in:
Alessio Quaglino
2024-03-28 05:25:28 -07:00
committed by Copybara-Service
parent dfe2b75378
commit 96f923282c
2 changed files with 99 additions and 94 deletions
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src/user/user_model.cc
+98 -94
View File
@@ -932,103 +932,154 @@ void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
elements.clear();
}
// set nuser fields
void mjCModel::SetNuser(){
if (nuser_body == -1) {
nuser_body = 0;
for (int i=0; i<bodies.size(); i++) {
nuser_body = mjMAX(nuser_body, bodies[i]->spec_userdata_.size());
}
}
if (nuser_jnt == -1) {
nuser_jnt = 0;
for (int i=0; i<joints.size(); i++) {
nuser_jnt = mjMAX(nuser_jnt, joints[i]->spec_userdata_.size());
}
}
if (nuser_geom == -1) {
nuser_geom = 0;
for (int i=0; i<geoms.size(); i++) {
nuser_geom = mjMAX(nuser_geom, geoms[i]->spec_userdata_.size());
}
}
if (nuser_site == -1) {
nuser_site = 0;
for (int i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->spec_userdata_.size());
}
}
if (nuser_cam == -1) {
nuser_cam = 0;
for (int i=0; i<cameras.size(); i++) {
nuser_cam = mjMAX(nuser_cam, cameras[i]->spec_userdata_.size());
}
}
if (nuser_tendon == -1) {
nuser_tendon = 0;
for (int i=0; i<tendons.size(); i++) {
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->spec_userdata_.size());
}
}
if (nuser_actuator == -1) {
nuser_actuator = 0;
for (int i=0; i<actuators.size(); i++) {
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->spec_userdata_.size());
}
}
if (nuser_sensor == -1) {
nuser_sensor = 0;
for (int i=0; i<sensors.size(); i++) {
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->spec_userdata_.size());
}
}
}
// index assets
void mjCModel::IndexAssets(bool discard) {
// assets referenced in geoms
for (int i=0; i<geoms.size(); i++) {
mjCGeom* pgeom = geoms[i];
mjCGeom* geom = geoms[i];
// find material by name
if (!pgeom->get_material().empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->get_material());
if (m) {
pgeom->matid = m->id;
if (!geom->get_material().empty()) {
mjCBase* material = FindObject(mjOBJ_MATERIAL, geom->get_material());
if (material) {
geom->matid = material->id;
} else {
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->get_material().c_str(), i);
throw mjCError(geom, "material '%s' not found in geom %d", geom->get_material().c_str(), i);
}
}
// find mesh by name
if (!pgeom->get_meshname().empty()) {
mjCBase* pmesh = FindObject(mjOBJ_MESH, pgeom->get_meshname());
if (pmesh) {
if (!pgeom->visual_) {
((mjCMesh*)pmesh)->SetNotVisual(); // reset to true by mesh->Compile()
if (!geom->get_meshname().empty()) {
mjCBase* mesh = FindObject(mjOBJ_MESH, geom->get_meshname());
if (mesh) {
if (!geom->visual_) {
((mjCMesh*)mesh)->SetNotVisual(); // reset to true by mesh->Compile()
}
pgeom->mesh = (discard && pgeom->visual_) ? nullptr : (mjCMesh*)pmesh;
geom->mesh = (discard && geom->visual_) ? nullptr : (mjCMesh*)mesh;
} else {
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->get_meshname().c_str(), i);
throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
}
}
// find hfield by name
if (!pgeom->get_hfieldname().empty()) {
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->get_hfieldname());
if (m) {
pgeom->hfield = (mjCHField*)m;
if (!geom->get_hfieldname().empty()) {
mjCBase* hfield = FindObject(mjOBJ_HFIELD, geom->get_hfieldname());
if (hfield) {
geom->hfield = (mjCHField*)hfield;
} else {
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->get_hfieldname().c_str(), i);
throw mjCError(geom, "hfield '%s' not found in geom %d", geom->get_hfieldname().c_str(), i);
}
}
}
// assets referenced in skins
for (int i=0; i<skins.size(); i++) {
mjCSkin* pskin = skins[i];
mjCSkin* skin = skins[i];
// find material by name
if (!pskin->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pskin->material_);
if (m) {
pskin->matid = m->id;
if (!skin->material_.empty()) {
mjCBase* material = FindObject(mjOBJ_MATERIAL, skin->material_);
if (material) {
skin->matid = material->id;
} else {
throw mjCError(pskin, "material '%s' not found in skin %d", pskin->material_.c_str(), i);
throw mjCError(skin, "material '%s' not found in skin %d", skin->material_.c_str(), i);
}
}
}
// materials referenced in sites
for (int i=0; i<sites.size(); i++) {
mjCSite* psite = sites[i];
mjCSite* site = sites[i];
// find material by name
if (!psite->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, psite->get_material());
if (m) {
psite->matid = m->id;
if (!site->material_.empty()) {
mjCBase* material = FindObject(mjOBJ_MATERIAL, site->get_material());
if (material) {
site->matid = material->id;
} else {
throw mjCError(psite, "material '%s' not found in site %d", psite->material_.c_str(), i);
throw mjCError(site, "material '%s' not found in site %d", site->material_.c_str(), i);
}
}
}
// materials referenced in tendons
for (int i=0; i<tendons.size(); i++) {
mjCTendon* pten = tendons[i];
mjCTendon* tendon = tendons[i];
// find material by name
if (!pten->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pten->material_);
if (m) {
pten->matid = m->id;
if (!tendon->material_.empty()) {
mjCBase* material = FindObject(mjOBJ_MATERIAL, tendon->material_);
if (material) {
tendon->matid = material->id;
} else {
throw mjCError(pten, "material '%s' not found in tendon %d", pten->material_.c_str(), i);
throw mjCError(tendon, "material '%s' not found in tendon %d", tendon->material_.c_str(), i);
}
}
}
// textures referenced in materials
for (int i=0; i<materials.size(); i++) {
mjCMaterial* pmat = materials[i];
mjCMaterial* material = materials[i];
// find texture by name
if (!pmat->texture_.empty()) {
mjCBase* m = FindObject(mjOBJ_TEXTURE, pmat->texture_);
if (m) {
pmat->texid = m->id;
if (!material->texture_.empty()) {
mjCBase* texture = FindObject(mjOBJ_TEXTURE, material->texture_);
if (texture) {
material->texid = texture->id;
} else {
throw mjCError(pmat, "texture '%s' not found in material %d", pmat->texture_.c_str(), i);
throw mjCError(material, "texture '%s' not found in material %d", material->texture_.c_str(), i);
}
}
}
@@ -3039,8 +3090,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
DeleteAll(textures);
}
// convert names into indices
IndexAssets(false);
// map names to asset references
IndexAssets(/*discard=*/false);
// mark meshes that need convex hull
for (int i=0; i<geoms.size(); i++) {
@@ -3050,61 +3101,14 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
}
}
// automatically set nuser fields
SetNuser();
// compile meshes (needed for geom compilation)
for (int i=0; i<meshes.size(); i++) {
meshes[i]->Compile(vfs);
}
// automatically set nuser fields
if (nuser_body == -1) {
nuser_body = 0;
for (int i=0; i<bodies.size(); i++) {
nuser_body = mjMAX(nuser_body, bodies[i]->spec_userdata_.size());
}
}
if (nuser_jnt == -1) {
nuser_jnt = 0;
for (int i=0; i<joints.size(); i++) {
nuser_jnt = mjMAX(nuser_jnt, joints[i]->spec_userdata_.size());
}
}
if (nuser_geom == -1) {
nuser_geom = 0;
for (int i=0; i<geoms.size(); i++) {
nuser_geom = mjMAX(nuser_geom, geoms[i]->spec_userdata_.size());
}
}
if (nuser_site == -1) {
nuser_site = 0;
for (int i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->spec_userdata_.size());
}
}
if (nuser_cam == -1) {
nuser_cam = 0;
for (int i=0; i<cameras.size(); i++) {
nuser_cam = mjMAX(nuser_cam, cameras[i]->spec_userdata_.size());
}
}
if (nuser_tendon == -1) {
nuser_tendon = 0;
for (int i=0; i<tendons.size(); i++) {
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->spec_userdata_.size());
}
}
if (nuser_actuator == -1) {
nuser_actuator = 0;
for (int i=0; i<actuators.size(); i++) {
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->spec_userdata_.size());
}
}
if (nuser_sensor == -1) {
nuser_sensor = 0;
for (int i=0; i<sensors.size(); i++) {
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->spec_userdata_.size());
}
}
// compile objects in kinematic tree
for (int i=0; i<bodies.size(); i++) {
bodies[i]->Compile(); // also compiles joints, geoms, sites, cameras, lights
src/user/user_model.h
+1
View File
@@ -256,6 +256,7 @@ class mjCModel : public mjCModel_, private mjSpec {
// compile phases
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
void SetNuser(); // set nuser fields
void IndexAssets(bool discard); // convert asset names into indices
void CheckEmptyNames(); // check empty names
void SetSizes(); // compute sizes