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Remove mjOption.collision and associated option/collision attribute.

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PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
This commit is contained in:
Yuval Tassa
2023-09-18 15:14:33 -07:00
committed by Copybara-Service
parent 9902b73502
commit 9cf1f6eba4
18 changed files with 108 additions and 208 deletions
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src/engine/engine_collision_driver.c
+71 -86
View File
@@ -385,7 +385,7 @@ quicksortfunc(contactcompare, context, el1, el2) {
void mj_collision(const mjModel* m, mjData* d) {
int g1, g2, merged, b1 = 0, b2 = 0, exadr = 0, pairadr = 0, startadr;
int nexclude = m->nexclude, npair = m->npair, nbodypair = ((m->nbody-1)*m->nbody)/2;
int nexclude = m->nexclude, npair = m->npair;
int *broadphasepair = 0;
// reset the size of the contact array and invalidate efc arrays
@@ -410,97 +410,82 @@ void mj_collision(const mjModel* m, mjData* d) {
mj_markStack(d);
// predefined only; ignore exclude
if (m->opt.collision == mjCOL_PAIR) {
d->nbodypair_broad = npair;
for (pairadr=0; pairadr < npair; pairadr++) {
int ngeompair_narrow_before = d->ngeompair_narrow;
int ngeompair_mid_before = d->ngeompair_mid;
collideGeoms(m, d, pairadr, -1, 0, 0);
if (d->ngeompair_narrow > ngeompair_narrow_before) d->nbodypair_narrow++;
if (d->ngeompair_mid > ngeompair_mid_before) d->nbodypair_broad++;
// call broadphase collision detector
int nbodypair = (m->nbody*(m->nbody - 1))/2;
broadphasepair = mj_stackAllocInt(d, nbodypair);
nbodypair = mj_broadphase(m, d, broadphasepair, nbodypair);
unsigned int last_signature = -1;
// loop over body pairs
for (int i=0; i < nbodypair; i++) {
// reconstruct body pair ids
b1 = (broadphasepair[i]>>16) & 0xFFFF;
b2 = broadphasepair[i] & 0xFFFF;
// compute signature for this body pair
unsigned int signature = ((b1+1)<<16) + (b2+1);
// pairs come sorted by signature, but may not be unique
// if signature is repeated, skip it
if (signature == last_signature) {
continue;
}
}
last_signature = signature;
// dynamic only or merge; apply exclude
else {
// call broadphase collision detector
int npairs = (m->nbody*(m->nbody - 1))/2;
broadphasepair = mj_stackAllocInt(d, npairs);
nbodypair = mj_broadphase(m, d, broadphasepair, npairs);
unsigned int last_signature = -1;
// loop over body pairs (broadphase or all)
for (int i=0; i < nbodypair; i++) {
// reconstruct body pair ids
b1 = (broadphasepair[i]>>16) & 0xFFFF;
b2 = broadphasepair[i] & 0xFFFF;
// compute signature for this body pair
unsigned int signature = ((b1+1)<<16) + (b2+1);
// pairs come sorted by signature, but may not be unique
// if signature is repeated, skip it
if (signature == last_signature) {
continue;
}
last_signature = signature;
// merge predefined pairs
merged = 0;
startadr = pairadr;
if (npair && m->opt.collision == mjCOL_ALL) {
// test all predefined pairs for which pair_signature<=signature
while (pairadr < npair && m->pair_signature[pairadr] <= signature) {
if (m->pair_signature[pairadr] == signature) {
merged = 1;
}
collideGeoms(m, d, pairadr++, -1, 0, 0);
// merge predefined pairs
merged = 0;
startadr = pairadr;
if (npair) {
// test all predefined pairs for which pair_signature<=signature
while (pairadr < npair && m->pair_signature[pairadr] <= signature) {
if (m->pair_signature[pairadr] == signature) {
merged = 1;
}
}
// handle exclusion
if (nexclude) {
// advance exadr while exclude_signature < signature
while (exadr < nexclude && m->exclude_signature[exadr] < signature) {
exadr++;
}
// skip this body pair if its signature is found in exclude array
if (exadr < nexclude && m->exclude_signature[exadr] == signature) {
continue;
}
}
int ngeompair_narrow_before = d->ngeompair_narrow;
int ngeompair_mid_before = d->ngeompair_mid;
// test all geom pairs within this body pair
if (m->body_geomnum[b1] && m->body_geomnum[b2]) {
if (!mjDISABLED(mjDSBL_MIDPHASE) && m->body_geomnum[b1]*m->body_geomnum[b2] > 1) {
int ncon_before = d->ncon;
collideTree(m, d, b1, b2, merged, startadr, pairadr);
int ncon_after = d->ncon;
void* context = (void*) m;
mjQUICKSORT(d->contact + ncon_before, ncon_after - ncon_before,
sizeof(mjContact), contactcompare, context);
} else {
for (g1=m->body_geomadr[b1]; g1 < m->body_geomadr[b1]+m->body_geomnum[b1]; g1++) {
for (g2=m->body_geomadr[b2]; g2 < m->body_geomadr[b2]+m->body_geomnum[b2]; g2++) {
collidePair(m, d, g1, g2, merged, startadr, pairadr);
}
}
}
}
if (d->ngeompair_narrow > ngeompair_narrow_before) d->nbodypair_narrow++;
if (d->ngeompair_mid > ngeompair_mid_before) d->nbodypair_broad++;
}
// finish merging predefined pairs
if (npair && m->opt.collision == mjCOL_ALL) {
while (pairadr < npair) {
collideGeoms(m, d, pairadr++, -1, 0, 0);
}
}
// handle exclusion
if (nexclude) {
// advance exadr while exclude_signature < signature
while (exadr < nexclude && m->exclude_signature[exadr] < signature) {
exadr++;
}
// skip this body pair if its signature is found in exclude array
if (exadr < nexclude && m->exclude_signature[exadr] == signature) {
continue;
}
}
int ngeompair_narrow_before = d->ngeompair_narrow;
int ngeompair_mid_before = d->ngeompair_mid;
// test all geom pairs within this body pair
if (m->body_geomnum[b1] && m->body_geomnum[b2]) {
if (!mjDISABLED(mjDSBL_MIDPHASE) && m->body_geomnum[b1]*m->body_geomnum[b2] > 1) {
int ncon_before = d->ncon;
collideTree(m, d, b1, b2, merged, startadr, pairadr);
int ncon_after = d->ncon;
void* context = (void*) m;
mjQUICKSORT(d->contact + ncon_before, ncon_after - ncon_before,
sizeof(mjContact), contactcompare, context);
} else {
for (g1=m->body_geomadr[b1]; g1 < m->body_geomadr[b1]+m->body_geomnum[b1]; g1++) {
for (g2=m->body_geomadr[b2]; g2 < m->body_geomadr[b2]+m->body_geomnum[b2]; g2++) {
collidePair(m, d, g1, g2, merged, startadr, pairadr);
}
}
}
}
if (d->ngeompair_narrow > ngeompair_narrow_before) d->nbodypair_narrow++;
if (d->ngeompair_mid > ngeompair_mid_before) d->nbodypair_broad++;
}
// finish merging predefined pairs
if (npair) {
while (pairadr < npair) {
collideGeoms(m, d, pairadr++, -1, 0, 0);
}
}
mj_freeStack(d);
src/engine/engine_io.c
-1
View File
@@ -146,7 +146,6 @@ void mj_defaultOption(mjOption* opt) {
// discrete options
opt->integrator = mjINT_EULER;
opt->collision = mjCOL_ALL;
opt->cone = mjCONE_PYRAMIDAL;
opt->jacobian = mjJAC_AUTO;
opt->solver = mjSOL_NEWTON;
src/xml/xml_native_reader.cc
+2 -13
View File
@@ -95,11 +95,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "26",
{"option", "*", "25",
"timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
"mpr_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp",
"integrator", "collision", "cone", "jacobian",
"integrator", "cone", "jacobian",
"solver", "iterations", "ls_iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
@@ -536,16 +536,6 @@ const mjMap integrator_map[integrator_sz] = {
{"implicitfast", mjINT_IMPLICITFAST}
};
// collision type
const int collision_sz = 3;
const mjMap collision_map[collision_sz] = {
{"all", mjCOL_ALL},
{"predefined", mjCOL_PAIR},
{"dynamic", mjCOL_DYNAMIC}
};
// cone type
const int cone_sz = 2;
const mjMap cone_map[cone_sz] = {
@@ -973,7 +963,6 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
ReadAttr(section, "o_solimp", mjNIMP, opt->o_solimp, text, false, false);
MapValue(section, "integrator", &opt->integrator, integrator_map, integrator_sz);
MapValue(section, "collision", &opt->collision, collision_map, collision_sz);
MapValue(section, "cone", &opt->cone, cone_map, cone_sz);
MapValue(section, "jacobian", &opt->jacobian, jac_map, jac_sz);
MapValue(section, "solver", &opt->solver, solver_map, solver_sz);
src/xml/xml_native_writer.cc
-2
View File
@@ -809,8 +809,6 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttrKey(section, "integrator", integrator_map, integrator_sz,
model->option.integrator, opt.integrator);
WriteAttrKey(section, "collision", collision_map, collision_sz,
model->option.collision, opt.collision);
WriteAttrKey(section, "cone", cone_map, cone_sz,
model->option.cone, opt.cone);
WriteAttrKey(section, "jacobian", jac_map, jac_sz,