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Add mjmBody and mjmPlugin and their compiler C APIs.

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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
This commit is contained in:
Alessio Quaglino
2024-02-07 04:16:20 -08:00
committed by Copybara-Service
parent b9c50ad79c
commit a3e49d582e
17 changed files with 626 additions and 332 deletions
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src/user/user_model.cc
+10 -10
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@@ -1491,7 +1491,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->body_mass[i] = (mjtNum)pb->mass;
copyvec(m->body_inertia+3*i, pb->inertia, 3);
m->body_gravcomp[i] = pb->gravcomp;
copyvec(m->body_user+nuser_body*i, pb->userdata.data(), nuser_body);
copyvec(m->body_user+nuser_body*i, pb->get_userdata().data(), nuser_body);
m->body_contype[i] = pb->contype;
m->body_conaffinity[i] = pb->conaffinity;
@@ -2883,7 +2883,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_body == -1) {
nuser_body = 0;
for (int i=0; i<bodies.size(); i++) {
nuser_body = mjMAX(nuser_body, bodies[i]->userdata.size());
nuser_body = mjMAX(nuser_body, bodies[i]->spec_userdata_.size());
}
}
if (nuser_jnt == -1) {
@@ -3050,8 +3050,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// set actuator_plugin to the plugin instance ID
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
for (int i = 0; i < nu; ++i) {
if (actuators[i]->is_plugin) {
int actuator_plugin = actuators[i]->plugin_instance->id;
if (actuators[i]->plugin.active) {
int actuator_plugin = ((mjCPlugin*)actuators[i]->plugin.instance)->id;
m->actuator_plugin[i] = actuator_plugin;
plugin_to_actuators[actuator_plugin].push_back(i);
} else {
@@ -3060,16 +3060,16 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
}
for (int i = 0; i < nbody; ++i) {
if (bodies[i]->is_plugin) {
m->body_plugin[i] = bodies[i]->plugin_instance->id;
if (bodies[i]->plugin.active) {
m->body_plugin[i] = ((mjCPlugin*)bodies[i]->plugin.instance)->id;
} else {
m->body_plugin[i] = -1;
}
}
for (int i = 0; i < ngeom; ++i) {
if (geoms[i]->is_plugin) {
m->geom_plugin[i] = geoms[i]->plugin_instance->id;
if (geoms[i]->plugin.active) {
m->geom_plugin[i] = ((mjCPlugin*)geoms[i]->plugin.instance)->id;
} else {
m->geom_plugin[i] = -1;
}
@@ -3078,7 +3078,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
for (int i = 0; i < nsensor; ++i) {
if (sensors[i]->type == mjSENS_PLUGIN) {
int sensor_plugin = sensors[i]->plugin_instance->id;
int sensor_plugin = ((mjCPlugin*)sensors[i]->plugin.instance)->id;
m->sensor_plugin[i] = sensor_plugin;
plugin_to_sensors[sensor_plugin].push_back(i);
} else {
@@ -3321,7 +3321,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
copyvec(pb->inertia, m->body_inertia+3*i, 3);
if (nuser_body) {
copyvec(pb->userdata.data(), m->body_user + nuser_body*i, nuser_body);
copyvec(pb->userdata_.data(), m->body_user + nuser_body*i, nuser_body);
}
}