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Pass mjvOption to plugin visualize callback.

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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
This commit is contained in:
Yuval Tassa
2023-04-21 08:43:36 -07:00
committed by Copybara-Service
parent 94779a722a
commit a2a1ac9fc2
11 changed files with 27 additions and 17 deletions
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doc/includes/references.h
+3 -2
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@@ -1244,7 +1244,7 @@ struct mjpPlugin_ {
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
};
typedef struct mjpPlugin_ mjpPlugin;
typedef enum mjtGridPos_ { // grid position for overlay
@@ -2270,7 +2270,8 @@ void mjv_defaultSceneState(mjvSceneState* scnstate);
void mjv_makeSceneState(const mjModel* m, const mjData* d,
mjvSceneState* scnstate, int maxgeom);
void mjv_freeSceneState(mjvSceneState* scnstate);
void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate);
void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
const mjvPerturb* pert, int catmask, mjvScene* scn);
void mjv_makeLights(const mjModel* m, mjData* d, mjvScene* scn);
include/mujoco/mjplugin.h
+1 -1
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@@ -87,7 +87,7 @@ struct mjpPlugin_ {
void (*advance)(const mjModel* m, mjData* d, int instance);
// called by mjv_updateScene (optional)
void (*visualize)(const mjModel*m, mjData* d, mjvScene* scn, int instance);
void (*visualize)(const mjModel*m, mjData* d, const mjvOption* opt, mjvScene* scn, int instance);
};
typedef struct mjpPlugin_ mjpPlugin;
include/mujoco/mujoco.h
+2 -1
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@@ -632,7 +632,8 @@ MJAPI void mjv_makeSceneState(const mjModel* m, const mjData* d,
MJAPI void mjv_freeSceneState(mjvSceneState* scnstate);
// Update a scene state from model and data.
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate);
// Add geoms from selected categories.
MJAPI void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
introspect/functions.py
+6
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@@ -3945,6 +3945,12 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='opt',
type=PointerType(
inner_type=ValueType(name='mjvOption', is_const=True),
),
),
FunctionParameterDecl(
name='scnstate',
type=PointerType(
plugin/elasticity/cable.cc
+5 -5
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@@ -302,11 +302,11 @@ return 0;
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Compute(m, d, instance);
};
plugin.visualize =
+[](const mjModel* m, mjData* d, mjvScene* scn, int instance) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Visualize(m, d, scn, instance);
};
plugin.visualize = +[](const mjModel* m, mjData* d, const mjvOption* opt, mjvScene* scn,
int instance) {
auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
elasticity->Visualize(m, d, scn, instance);
};
mjp_registerPlugin(&plugin);
}
simulate/simulate.cc
+2 -2
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@@ -1798,7 +1798,7 @@ void Simulate::Sync() {
if (fully_managed_) {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(m_, d_, &scnstate_);
mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
mjopt_prev_ = scnstate_.model.opt;
warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
}
@@ -1956,7 +1956,7 @@ void Simulate::LoadOnRenderThread() {
mjv_updateScene(this->mnew_, this->dnew_,
&this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(this->mnew_, this->dnew_, &this->scnstate_);
mjv_updateSceneState(this->mnew_, this->dnew_, &this->opt, &this->scnstate_);
}
// set window title to model name
src/engine/engine_vis_state.c
+3 -2
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@@ -227,7 +227,8 @@ int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt
// update a scene state from model and data
void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate) {
void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate) {
// Check that mjModel sizes haven't changed.
#define X(var)
#define XMJV(var) \
@@ -250,7 +251,7 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate)
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, &scnstate->plugincache, i);
plugin->visualize(m, d, opt, &scnstate->plugincache, i);
}
}
}
src/engine/engine_vis_state.h
+2 -1
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@@ -43,7 +43,8 @@ MJAPI int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOptio
mjvScene* scn);
// update a scene state from model and data
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, mjvSceneState* scnstate);
MJAPI void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate);
// move camera with mouse given a scene state; action is mjtMouse
MJAPI void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
src/engine/engine_vis_visualize.c
+1 -1
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@@ -2071,7 +2071,7 @@ void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
mju_error("invalid plugin slot: %d", slot);
}
if (plugin->visualize) {
plugin->visualize(m, d, scn, i);
plugin->visualize(m, d, opt, scn, i);
}
}
}
test/engine/engine_vis_state_test.cc
+1 -1
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@@ -67,7 +67,7 @@ TEST_F(MjvSceneStateTest, CanUpdateFromState) {
mjvSceneState scnstate;
mjv_defaultSceneState(&scnstate);
mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
mjv_updateSceneState(model, data, &scnstate);
mjv_updateSceneState(model, data, &opt, &scnstate);
mjvScene scn2;
mjv_defaultScene(&scn2);
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -3389,7 +3389,7 @@ public static unsafe extern void mjv_makeSceneState(mjModel_* m, mjData_* d, mjv
public static unsafe extern void mjv_freeSceneState(mjvSceneState_* scnstate);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvSceneState_* scnstate);
public static unsafe extern void mjv_updateSceneState(mjModel_* m, mjData_* d, mjvOption_* opt, mjvSceneState_* scnstate);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_addGeoms(mjModel_* m, mjData_* d, mjvOption_* opt, mjvPerturb_* pert, int catmask, mjvScene_* scn);