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Enable compiler asset cache for public use, and add changelog entry.

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PiperOrigin-RevId: 631352810
Change-Id: If6208327499e3e4bd37cbb2a1b0cdcfb912c1056
This commit is contained in:
Kyle Bayes
2024-05-07 02:49:40 -07:00
committed by Copybara-Service
parent a40de1b230
commit ad0459680d
2 changed files with 34 additions and 22 deletions
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doc/changelog.rst
+23 -21
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@@ -14,50 +14,52 @@ General
1. Added the :ref:`replicate<replicate>` to MJCF, a :ref:`meta-element<meta-element>` which permits to repeat a subtree
with incremental translational and rotational offsets.
2. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
2. Enabled an internal cache in the MuJoCo compiler resulting in recompilation speedup. Currently, processed
textures, hfields, and OBJ meshes are cached. Support for Unity environments is not yet available.
3. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
:ref:`scale<asset-mesh-scale>` attribute.
3. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
4. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
- :ref:`light/bulbradius<body-light-bulbradius>` attribute and corresponding ``mjModel.light_bulbradius`` field.
- :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
- :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
field.
4. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
5. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
to ``size_t``.
5. Added support for gmsh format version 2.2 surface meshes in :ref:`flexcomp<body-flexcomp-file>`.
6. Added support for gmsh format version 2.2 surface meshes in :ref:`flexcomp<body-flexcomp-file>`.
MJX
^^^
.. admonition:: Breaking API changes
:class: attention
6. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
7. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
functionality.
**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
``mjx.device_put``.
7. Added cylinder plane collisions.
8. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
9. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
10. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
11. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
12. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
8. Added cylinder plane collisions.
9. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
10. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
11. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
12. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
13. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
13. Fixed a bug where capsules might be ignored in broadphase colliision checking.
14. Added cylinder collisions using SDFs.
15. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
16. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
17. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
18. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
14. Fixed a bug where capsules might be ignored in broadphase colliision checking.
15. Added cylinder collisions using SDFs.
16. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
17. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
18. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
19. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
Bug fixes
^^^^^^^^^
19. Defaults of lights were not being saved, now fixed.
20. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
21. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
20. Defaults of lights were not being saved, now fixed.
21. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
22. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
22. Fixed bug that prevented memory allocations larger than 2.15 GB.
23. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)
src/user/user_api.cc
+11 -1
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@@ -29,6 +29,9 @@
#include "user/user_cache.h"
#include "xml/xml_util.h"
// global cache size in bytes (default 500MB)
static constexpr std::size_t kGlobalCacheSize = 500 * (1 << 20);
// prepend prefix
template <typename T>
@@ -698,5 +701,12 @@ void mj_setCacheSize(mjCache cache, std::size_t size) {
mjCache mj_globalCache() {
return NULL; // currently disabled
// mjCCache is not trivially destructible and so the global cache needs to
// allocated on the heap
if constexpr (kGlobalCacheSize) {
static mjCCache* cache = new(std::nothrow) mjCCache(kGlobalCacheSize);
return (mjCache) cache;
} else {
return NULL;
}
}