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Add mjmMesh to C API.

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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
This commit is contained in:
Alessio Quaglino
2024-02-13 09:08:55 -08:00
committed by Copybara-Service
parent 06505f49f9
commit 9ecd700923
11 changed files with 234 additions and 200 deletions
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src/user/user_mesh.cc
+65 -116
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@@ -129,11 +129,7 @@ static void ReadFromBuffer(T* dst, const char* src) {
//------------------ class mjCMesh implementation --------------------------------------------------
mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// set defaults
mjuu_setvec(refpos_, 0, 0, 0);
mjuu_setvec(refquat_, 1, 0, 0, 0);
mjuu_setvec(scale_, 1, 1, 1);
smoothnormal_ = false;
mjm_defaultMesh(spec);
// clear internal variables
mjuu_setvec(pos_surface_, 0, 0, 0);
@@ -179,9 +175,50 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
// in case this body is not compiled
CopyFromSpec();
// point to local (needs to be after defaults)
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
PointToLocal();
}
void mjCMesh::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
spec.uservert = (mjFloatVec)&spec_uservert_;
spec.usernormal = (mjFloatVec)&spec_usernormal_;
spec.userface = (mjIntVec)&spec_userface_;
spec.usertexcoord = (mjFloatVec)&spec_usertexcoord_;
spec.plugin.name = (mjString)&plugin_name;
spec.plugin.instance_name = (mjString)&plugin_instance_name;
spec.info = (mjString)&info;
}
void mjCMesh::CopyFromSpec() {
*static_cast<mjmMesh*>(this) = spec;
file_ = spec_file_;
content_type_ = spec_content_type_;
uservert_ = spec_uservert_;
usernormal_ = spec_usernormal_;
userface_ = spec_userface_;
usertexcoord_ = spec_usertexcoord_;
file = (mjString)&file_;
content_type = (mjString)&content_type_;
uservert = (mjFloatVec)&uservert_;
usernormal = (mjFloatVec)&usernormal_;
userface = (mjIntVec)&userface_;
usertexcoord = (mjFloatVec)&usertexcoord_;
plugin.active = spec.plugin.active;
plugin.instance = spec.plugin.instance;
plugin.name = spec.plugin.name;
plugin.instance_name = spec.plugin.instance_name;
}
@@ -199,96 +236,6 @@ mjCMesh::~mjCMesh() {
void mjCMesh::set_content_type(std::optional<std::string>&& content_type) {
if (content_type.has_value()) {
content_type_ = std::move(content_type.value());
}
}
void mjCMesh::set_file(std::optional<std::string>&& file) {
if (file.has_value()) {
file_ = std::move(file.value());
}
}
void mjCMesh::set_refpos(std::optional<std::array<double, 3>> refpos) {
if (refpos.has_value()) {
std::copy(refpos.value().begin(), refpos.value().end(), refpos_);
}
}
void mjCMesh::set_refquat(std::optional<std::array<double, 4>> refquat) {
if (refquat.has_value()) {
std::copy(refquat.value().begin(), refquat.value().end(), refquat_);
}
}
void mjCMesh::set_scale(std::optional<std::array<double, 3>> scale) {
if (scale.has_value()) {
set_scale(scale.value());
}
}
void mjCMesh::set_uservert(std::optional<std::vector<float>>&& uservert) {
if (uservert.has_value()) {
uservert_ = std::move(uservert.value());
}
}
void mjCMesh::set_usernormal(std::optional<std::vector<float>>&& usernormal) {
if (usernormal.has_value()) {
usernormal_ = std::move(usernormal.value());
}
}
void mjCMesh::set_usertexcoord(std::optional<std::vector<float>>&& usertexcoord) {
if (usertexcoord.has_value()) {
usertexcoord_ = std::move(usertexcoord.value());
}
}
void mjCMesh::set_userface(std::optional<std::vector<int>>&& userface) {
if (userface.has_value()) {
userface_ = std::move(userface.value());
}
}
void mjCMesh::set_file(const std::string& file) {
file_ = file;
}
void mjCMesh::set_scale(std::array<double, 3> scale) {
std::copy(scale.begin(), scale.end(), scale_);
}
void mjCMesh::set_smoothnormal(bool smoothnormal) {
smoothnormal_ = smoothnormal;
}
void mjCMesh::set_needhull(bool needhull) {
needhull_ = needhull;
}
@@ -303,7 +250,7 @@ void mjCMesh::LoadSDF() {
name.c_str(), id);
}
if (scale_[0] != 1 || scale_[1] != 1 || scale_[2] != 1) {
if (scale[0] != 1 || scale[1] != 1 || scale[2] != 1) {
throw mjCError(this, "attribute scale is not compatible with SDFs in mesh '%s', (id = %d)",
name.c_str(), id);
}
@@ -371,9 +318,9 @@ void mjCMesh::LoadSDF() {
userface.push_back(mesh.indices.at(i));
}
set_uservert(uservert);
set_usernormal(usernormal);
set_userface(userface);
uservert_ = std::move(uservert);
usernormal_ = std::move(usernormal);
userface_ = std::move(userface);
delete[] field;
}
@@ -381,6 +328,8 @@ void mjCMesh::LoadSDF() {
// compiler
void mjCMesh::Compile(const mjVFS* vfs) {
CopyFromSpec();
// load file
if (!file_.empty()) {
// remove path from file if necessary
@@ -957,7 +906,7 @@ void mjCMesh::LoadOBJ(mjResource* resource) {
if (!objReader.GetShapes().empty()) {
const auto& mesh = objReader.GetShapes()[0].mesh;
bool righthand = (scale_[0]*scale_[1]*scale_[2] > 0);
bool righthand = (scale[0]*scale[1]*scale[2] > 0);
// iterate over mesh faces
std::vector<tinyobj::index_t> face_indices;
@@ -1005,7 +954,7 @@ void mjCMesh::LoadOBJ(mjResource* resource) {
// load STL binary mesh
void mjCMesh::LoadSTL(mjResource* resource) {
bool righthand = (scale_[0]*scale_[1]*scale_[2]>0);
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// get file data in buffer
char* buffer = 0;
@@ -1085,7 +1034,7 @@ void mjCMesh::LoadSTL(mjResource* resource) {
// load MSH binary mesh
void mjCMesh::LoadMSH(mjResource* resource) {
bool righthand = (scale_[0]*scale_[1]*scale_[2]>0);
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// get file data in buffer
char* buffer = 0;
@@ -1193,9 +1142,9 @@ void mjCMesh::ComputeVolume(double CoM[3], mjtGeomInertia type,
// apply transformations
void mjCMesh::ApplyTransformations() {
// translate
if (refpos_[0]!=0 || refpos_[1]!=0 || refpos_[2]!=0) {
if (refpos[0]!=0 || refpos[1]!=0 || refpos[2]!=0) {
// prepare translation
float rp[3] = {(float)refpos_[0], (float)refpos_[1], (float)refpos_[2]};
float rp[3] = {(float)refpos[0], (float)refpos[1], (float)refpos[2]};
// process vertices
for (int i=0; i<nvert_; i++) {
@@ -1206,9 +1155,9 @@ void mjCMesh::ApplyTransformations() {
}
// rotate
if (refquat_[0]!=1 || refquat_[1]!=0 || refquat_[2]!=0 || refquat_[3]!=0) {
if (refquat[0]!=1 || refquat[1]!=0 || refquat[2]!=0 || refquat[3]!=0) {
// prepare rotation
mjtNum quat[4] = {refquat_[0], refquat_[1], refquat_[2], refquat_[3]};
mjtNum quat[4] = {refquat[0], refquat[1], refquat[2], refquat[3]};
mjtNum mat[9];
mju_normalize4(quat);
mju_quat2Mat(mat, quat);
@@ -1233,17 +1182,17 @@ void mjCMesh::ApplyTransformations() {
}
// scale
if (scale_[0]!=1 || scale_[1]!=1 || scale_[2]!=1) {
if (scale[0]!=1 || scale[1]!=1 || scale[2]!=1) {
for (int i=0; i<nvert_; i++) {
vert_[3*i] *= scale_[0];
vert_[3*i+1] *= scale_[1];
vert_[3*i+2] *= scale_[2];
vert_[3*i] *= scale[0];
vert_[3*i+1] *= scale[1];
vert_[3*i+2] *= scale[2];
}
for (int i=0; i<nnormal_; i++) {
normal_[3*i] *= scale_[0];
normal_[3*i+1] *= scale_[1];
normal_[3*i+2] *= scale_[2];
normal_[3*i] *= scale[0];
normal_[3*i+1] *= scale[1];
normal_[3*i+2] *= scale[2];
}
}
@@ -1764,7 +1713,7 @@ void mjCMesh::MakeNormal(void) {
}
// remove large-angle faces
if (!smoothnormal_) {
if (!smoothnormal) {
// allocate removal and clear
float* nremove = (float*) mju_malloc(3*nnormal_*sizeof(float));
memset(nremove, 0, 3*nnormal_*sizeof(float));