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Fix multiple bugs related to mjvSceneState.

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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
This commit is contained in:
Yuval Tassa
2023-08-17 10:24:44 -07:00
committed by Copybara-Service
parent cf310079e2
commit b1ecc943bb
11 changed files with 302 additions and 147 deletions
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include/mujoco/mjdata.h
+1
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@@ -369,6 +369,7 @@ struct mjData_ {
mjtNum* efc_KBIP; // stiffness, damping, impedance, imp' (nefc x 4)
mjtNum* efc_D; // constraint mass (nefc x 1)
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
// computed by mj_island
int* island_dofadr; // address of first dof in island (nisland x 1)
include/mujoco/mjvisualize.h
+10
View File
@@ -378,6 +378,7 @@ struct mjvSceneState_ {
// fields in mjModel that are necessary to re-render a scene
struct {
int nv;
int nu;
int na;
int nbody;
@@ -396,6 +397,7 @@ struct mjvSceneState_ {
int nmat;
int neq;
int ntendon;
int ntree;
int nwrap;
int nsensor;
int nnames;
@@ -411,6 +413,8 @@ struct mjvSceneState_ {
int* body_mocapid;
int* body_jntnum;
int* body_jntadr;
int* body_dofnum;
int* body_dofadr;
int* body_geomnum;
int* body_geomadr;
mjtNum* body_iquat;
@@ -430,6 +434,8 @@ struct mjvSceneState_ {
int* geom_type;
int* geom_bodyid;
int* geom_contype;
int* geom_conaffinity;
int* geom_dataid;
int* geom_matid;
int* geom_group;
@@ -458,6 +464,8 @@ struct mjvSceneState_ {
float* light_diffuse;
float* light_specular;
int* mesh_bvhadr;
int* mesh_bvhnum;
int* mesh_texcoordadr;
int* mesh_graphadr;
@@ -575,12 +583,14 @@ struct mjvSceneState_ {
int* ten_wrapadr;
int* ten_wrapnum;
int* wrap_obj;
mjtNum* ten_length;
mjtNum* wrap_xpos;
mjtByte* bvh_active;
int* island_dofadr;
int* dof_island;
int* efc_island;
int* tendon_efcadr;
mjContact* contact;
mjtNum* efc_force;
include/mujoco/mjxmacro.h
+36 -35
View File
@@ -65,7 +65,7 @@
// int fields of mjModel
#define MJMODEL_INTS \
X ( nq ) \
X ( nv ) \
XMJV( nv ) \
XMJV( nu ) \
XMJV( na ) \
XMJV( nbody ) \
@@ -124,7 +124,7 @@
X ( nemax ) \
X ( njmax ) \
X ( nconmax ) \
X ( ntree ) \
XMJV( ntree ) \
X ( nstack ) \
X ( nuserdata ) \
XMJV( nsensordata ) \
@@ -165,8 +165,8 @@
XMJV( int, body_mocapid, nbody, 1 ) \
XMJV( int, body_jntnum, nbody, 1 ) \
XMJV( int, body_jntadr, nbody, 1 ) \
X ( int, body_dofnum, nbody, 1 ) \
X ( int, body_dofadr, nbody, 1 ) \
XMJV( int, body_dofnum, nbody, 1 ) \
XMJV( int, body_dofadr, nbody, 1 ) \
X ( int, body_treeid, nbody, 1 ) \
XMJV( int, body_geomnum, nbody, 1 ) \
XMJV( int, body_geomadr, nbody, 1 ) \
@@ -219,8 +219,8 @@
X ( mjtNum, dof_invweight0, nv, 1 ) \
X ( mjtNum, dof_M0, nv, 1 ) \
XMJV( int, geom_type, ngeom, 1 ) \
X ( int, geom_contype, ngeom, 1 ) \
X ( int, geom_conaffinity, ngeom, 1 ) \
XMJV( int, geom_contype, ngeom, 1 ) \
XMJV( int, geom_conaffinity, ngeom, 1 ) \
X ( int, geom_condim, ngeom, 1 ) \
XMJV( int, geom_bodyid, ngeom, 1 ) \
XMJV( int, geom_dataid, ngeom, 1 ) \
@@ -289,8 +289,8 @@
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_faceadr, nmesh, 1 ) \
X ( int, mesh_facenum, nmesh, 1 ) \
X ( int, mesh_bvhadr, nmesh, 1 ) \
X ( int, mesh_bvhnum, nmesh, 1 ) \
XMJV( int, mesh_bvhadr, nmesh, 1 ) \
XMJV( int, mesh_bvhnum, nmesh, 1 ) \
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \
@@ -515,7 +515,7 @@
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
XMJV( mjtNum, ten_length, ntendon, 1 ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
XMJV( int, wrap_obj, nwrap, 2 ) \
XMJV( mjtNum, wrap_xpos, nwrap, 6 ) \
@@ -561,35 +561,36 @@
#define MJ_D(n) n
// array of contacts
#define MJDATA_ARENA_POINTERS_CONTACT \
#define MJDATA_ARENA_POINTERS_CONTACT \
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_PRIMAL \
X( int, efc_type, MJ_D(nefc), 1) \
X( int, efc_id, MJ_D(nefc), 1) \
X( int, efc_J_rownnz, MJ_D(nefc), 1) \
X( int, efc_J_rowadr, MJ_D(nefc), 1) \
X( int, efc_J_rowsuper, MJ_D(nefc), 1) \
X( int, efc_J_colind, MJ_D(nnzJ), 1) \
X( int, efc_JT_rownnz, MJ_M(nv), 1) \
X( int, efc_JT_rowadr, MJ_M(nv), 1) \
X( int, efc_JT_rowsuper, MJ_M(nv), 1) \
X( int, efc_JT_colind, MJ_D(nnzJ), 1) \
X( mjtNum, efc_J, MJ_D(nnzJ), 1) \
X( mjtNum, efc_JT, MJ_D(nnzJ), 1) \
X( mjtNum, efc_pos, MJ_D(nefc), 1) \
X( mjtNum, efc_margin, MJ_D(nefc), 1) \
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
X( mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
X( mjtNum, efc_KBIP, MJ_D(nefc), 4) \
X( mjtNum, efc_D, MJ_D(nefc), 1) \
X( mjtNum, efc_R, MJ_D(nefc), 1) \
X( mjtNum, efc_vel, MJ_D(nefc), 1) \
X( mjtNum, efc_aref, MJ_D(nefc), 1) \
X( mjtNum, efc_b, MJ_D(nefc), 1) \
X( mjtNum, efc_force, MJ_D(nefc), 1) \
X( int, efc_state, MJ_D(nefc), 1)
#define MJDATA_ARENA_POINTERS_PRIMAL \
X( int, efc_type, MJ_D(nefc), 1) \
X( int, efc_id, MJ_D(nefc), 1) \
X( int, efc_J_rownnz, MJ_D(nefc), 1) \
X( int, efc_J_rowadr, MJ_D(nefc), 1) \
X( int, efc_J_rowsuper, MJ_D(nefc), 1) \
X( int, efc_J_colind, MJ_D(nnzJ), 1) \
X( int, efc_JT_rownnz, MJ_M(nv), 1) \
X( int, efc_JT_rowadr, MJ_M(nv), 1) \
X( int, efc_JT_rowsuper, MJ_M(nv), 1) \
X( int, efc_JT_colind, MJ_D(nnzJ), 1) \
X( mjtNum, efc_J, MJ_D(nnzJ), 1) \
X( mjtNum, efc_JT, MJ_D(nnzJ), 1) \
X( mjtNum, efc_pos, MJ_D(nefc), 1) \
X( mjtNum, efc_margin, MJ_D(nefc), 1) \
X( mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
X( mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
X( mjtNum, efc_KBIP, MJ_D(nefc), 4) \
X( mjtNum, efc_D, MJ_D(nefc), 1) \
X( mjtNum, efc_R, MJ_D(nefc), 1) \
X( int, tendon_efcadr, MJ_M(ntendon), 1) \
X( mjtNum, efc_vel, MJ_D(nefc), 1) \
X( mjtNum, efc_aref, MJ_D(nefc), 1) \
X( mjtNum, efc_b, MJ_D(nefc), 1) \
X( mjtNum, efc_force, MJ_D(nefc), 1) \
X( int, efc_state, MJ_D(nefc), 1)
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \