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Clean up mjCModel definition.

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PiperOrigin-RevId: 611102699
Change-Id: I64a3927c30f16764742966f4c5e1e0e579af5f50
This commit is contained in:
Kyle Bayes
2024-02-28 07:57:30 -08:00
committed by Copybara-Service
parent 789188d51d
commit b2bd377bad
1 changed files with 138 additions and 143 deletions
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src/user/user_model.h
+138 -143
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@@ -15,6 +15,7 @@
#ifndef MUJOCO_SRC_USER_USER_MODEL_H_ #ifndef MUJOCO_SRC_USER_USER_MODEL_H_
#define MUJOCO_SRC_USER_USER_MODEL_H_ #define MUJOCO_SRC_USER_USER_MODEL_H_
#include <array>
#include <functional> #include <functional>
#include <map> #include <map>
#include <string> #include <string>
@@ -32,16 +33,12 @@
typedef std::map<std::string, int, std::less<> > mjKeyMap; typedef std::map<std::string, int, std::less<> > mjKeyMap;
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap; typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
//---------------------------------- class mjCModel ------------------------------------------------
// mjCModel contains everything needed to generate the low-level model. // mjCModel contains everything needed to generate the low-level model.
// It can be constructed manually by calling 'Add' functions and setting // It can be constructed manually by calling 'Add' functions and setting
// the public fields of the various objects. Alternatively it can constructed // the public fields of the various objects. Alternatively it can constructed
// by loading an XML file via mjCXML. Once an mjCModel object is // by loading an XML file via mjCXML. Once an mjCModel object is
// constructed, 'Compile' can be called to generate the corresponding mjModel object // constructed, 'Compile' can be called to generate the corresponding mjModel object
// (which is the low-level model). The mjCModel object can then be deleted. // (which is the low-level model). The mjCModel object can then be deleted.
class mjCModel : private mjmModel { class mjCModel : private mjmModel {
friend class mjCBody; friend class mjCBody;
friend class mjCCamera; friend class mjCCamera;
@@ -63,98 +60,99 @@ class mjCModel : private mjmModel {
friend class mjXWriter; friend class mjXWriter;
public: public:
mjCModel(); // constructor mjCModel();
~mjCModel(); // destructor ~mjCModel();
void CopyFromSpec(); // copy spec to private attributes void CopyFromSpec(); // copy spec to private attributes
void PointToLocal(); void PointToLocal();
mjmModel spec; mjmModel spec;
mjModel* Compile(const mjVFS* vfs = 0); // COMPILER: construct mjModel mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
void FuseStatic(void); // fuse static bodies with parent void FuseStatic(); // fuse static bodies with parent
void FuseReindex(mjCBody* body); // reindex elements during fuse void FuseReindex(mjCBody* body); // reindex elements during fuse
// API for adding model elements
mjCFlex* AddFlex();
mjCMesh* AddMesh(mjCDef* def = nullptr);
mjCSkin* AddSkin();
mjCHField* AddHField();
mjCTexture* AddTexture();
mjCMaterial* AddMaterial(mjCDef* def = nullptr);
mjCPair* AddPair(mjCDef* def = nullptr); // geom pair for inclusion
mjCBodyPair* AddExclude(); // body pair for exclusion
mjCEquality* AddEquality(mjCDef* def = nullptr); // equality constraint
mjCTendon* AddTendon(mjCDef* def = nullptr);
mjCActuator* AddActuator(mjCDef* def = nullptr);
mjCSensor* AddSensor();
mjCNumeric* AddNumeric();
mjCText* AddText();
mjCTuple* AddTuple();
mjCKey* AddKey();
mjCPlugin* AddPlugin();
//------------------------ API for adding model elements // delete elements marked as discard=true
mjCFlex* AddFlex(void); // flex template <class T> void Delete(std::vector<T*>& elements,
mjCMesh* AddMesh(mjCDef* def = 0); // mesh const std::vector<bool>& discard);
mjCSkin* AddSkin(void); // skin
mjCHField* AddHField(void); // heightfield
mjCTexture* AddTexture(void); // texture
mjCMaterial* AddMaterial(mjCDef* def = 0); // material
mjCPair* AddPair(mjCDef* def = 0); // geom pair for inclusion
mjCBodyPair* AddExclude(void); // body pair for exclusion
mjCEquality* AddEquality(mjCDef* def = 0); // equality constraint
mjCTendon* AddTendon(mjCDef* def = 0); // tendon
mjCActuator* AddActuator(mjCDef* def = 0); // actuator
mjCSensor* AddSensor(void); // sensor
mjCNumeric* AddNumeric(void); // custom numeric
mjCText* AddText(void); // custom text
mjCTuple* AddTuple(void); // custom tuple
mjCKey* AddKey(void); // keyframe
mjCPlugin* AddPlugin(void); // plugin instance
//------------------------ API for deleting model elements // delete all elements
template <class T> template <class T> void DeleteAll(std::vector<T*>& elements);
void Delete(std::vector<T*>& elements,
const std::vector<bool>& discard); // delete elements marked as discard=true
template <class T> // API for access to model elements (outside tree)
void DeleteAll(std::vector<T*>& elements); // delete all elements int NumObjects(mjtObj type); // number of objects in specified list
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
//------------------------ API for access to model elements (outside tree) // API for access to other variables
int NumObjects(mjtObj type); // number of objects in specified list bool IsCompiled(); // is model already compiled
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object int GetFixed(); // number of fixed massless bodies
mjCError GetError(); // copy of error object
mjCBody* GetWorld(); // pointer to world body
mjCDef* FindDef(std::string name); // find default class name
mjCDef* AddDef(std::string name, int parentid); // add default class to array
mjCBase* FindObject(mjtObj type, std::string name); // find object given type and name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
//------------------------ API for access to other variables // accessors
bool IsCompiled(void); // is model already compiled
int GetFixed(void); // number of fixed massless bodies
mjCError GetError(void); // copy of error object
mjCBody* GetWorld(void); // pointer to world body
mjCDef* FindDef(std::string name); // find default class name
mjCDef* AddDef(std::string name, int parentid); // add default class to array
mjCBase* FindObject(mjtObj type, std::string name); // find object given type and name
bool IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
//------------------------ getters
std::string get_meshdir(void) const { return meshdir_; } std::string get_meshdir(void) const { return meshdir_; }
std::string get_texturedir(void) const { return texturedir_; } std::string get_texturedir(void) const { return texturedir_; }
//------------------------ API for plugins // resolve plugin instance, create a new one if needed
void ResolvePlugin(mjCBase* obj, // resolve plugin instance, create a new one if needed void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
const std::string& plugin_name, const std::string& plugin_instance_name,
const std::string& plugin_instance_name, mjCPlugin** plugin_instance);
mjCPlugin** plugin_instance);
// settings for each defaults class
std::vector<mjCDef*> defaults;
//------------------------ global data // list of active plugins
std::vector<mjCDef*> defaults; // settings for each defaults class std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
std::vector<std::pair<const mjpPlugin*, int>> active_plugins; // list of active plugins
private: private:
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs); void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
mjModel* _Compile(const mjVFS* vfs); mjModel* _Compile(const mjVFS* vfs);
void Clear(void); // clear objects allocated by Compile // clear objects allocated by Compile
void Clear(void);
template <class T> // add object of any type // add object of any type
T* AddObject(std::vector<T*>& list, std::string type); template <class T> T* AddObject(std::vector<T*>& list, std::string type);
template <class T> // add object of any type, with def parameter // add object of any type, with def parameter
T* AddObjectDef(std::vector<T*>& list, std::string type, mjCDef* def); template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
mjCDef* def);
template<class T> // if asset name is missing, set to filename // if asset name is missing, set to filename
void SetDefaultNames(std::vector<T*>& assets); template<class T> void SetDefaultNames(std::vector<T*>& assets);
template <class T> // delete material from object // delete material from object
void DeleteMaterial(std::vector<T*>& list, std::string_view name = ""); template <class T> void DeleteMaterial(std::vector<T*>& list,
std::string_view name = "");
//------------------------ compile phases // compile phases
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
void IndexAssets(bool discard); // convert asset names into indices void IndexAssets(bool discard); // convert asset names into indices
void CheckEmptyNames(void); // check empty names void CheckEmptyNames(); // check empty names
void SetSizes(void); // compute sizes void SetSizes(); // compute sizes
void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
void CopyNames(mjModel*); // copy names, compute name addresses void CopyNames(mjModel*); // copy names, compute name addresses
@@ -162,71 +160,69 @@ class mjCModel : private mjmModel {
void CopyObjects(mjModel*); // copy objects outside kinematic tree void CopyObjects(mjModel*); // copy objects outside kinematic tree
void CopyTree(mjModel*); // copy objects inside kinematic tree void CopyTree(mjModel*); // copy objects inside kinematic tree
//------------------------ sizes
// sizes set from object list lengths // sizes set from object list lengths
int nbody; // number of bodies int nbody; // number of bodies
int njnt; // number of joints int njnt; // number of joints
int ngeom; // number of geoms int ngeom; // number of geoms
int nsite; // number of sites int nsite; // number of sites
int ncam; // number of cameras int ncam; // number of cameras
int nlight; // number of lights int nlight; // number of lights
int nflex; // number of flexes int nflex; // number of flexes
int nmesh; // number of meshes int nmesh; // number of meshes
int nskin; // number of skins int nskin; // number of skins
int nhfield; // number of height fields int nhfield; // number of height fields
int ntex; // number of textures int ntex; // number of textures
int nmat; // number of materials int nmat; // number of materials
int npair; // number of geom pairs in pair array int npair; // number of geom pairs in pair array
int nexclude; // number of excluded body pairs int nexclude; // number of excluded body pairs
int neq; // number of equality constraints int neq; // number of equality constraints
int ntendon; // number of tendons int ntendon; // number of tendons
int nsensor; // number of sensors int nsensor; // number of sensors
int nnumeric; // number of numeric fields int nnumeric; // number of numeric fields
int ntext; // number of text fields int ntext; // number of text fields
int ntuple; // number of tuple fields int ntuple; // number of tuple fields
int nmocap; // number of mocap bodies int nmocap; // number of mocap bodies
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// sizes computed by Compile // sizes computed by Compile
int nq; // number of generalized coordinates = dim(qpos) int nq; // number of generalized coordinates = dim(qpos)
int nv; // number of degrees of freedom = dim(qvel) int nv; // number of degrees of freedom = dim(qvel)
int nu; // number of actuators/controls int nu; // number of actuators/controls
int na; // number of activation variables int na; // number of activation variables
int nbvh; // number of total boundary volume hierarchies int nbvh; // number of total boundary volume hierarchies
int nbvhstatic; // number of static boundary volume hierarchies int nbvhstatic; // number of static boundary volume hierarchies
int nbvhdynamic; // number of dynamic boundary volume hierarchies int nbvhdynamic; // number of dynamic boundary volume hierarchies
int nflexvert; // number of vertices in all flexes int nflexvert; // number of vertices in all flexes
int nflexedge; // number of edges in all flexes int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes int nflexelemdata; // number of element vertex ids in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes int nflextexcoord; // number of vertex texture coordinates in all flexes
int nmeshvert; // number of vertices in all meshes int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texture coordinates in all meshes int nmeshtexcoord; // number of texture coordinates in all meshes
int nmeshface; // number of triangular faces in all meshes int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of shorts in mesh auxiliary data int nmeshgraph; // number of shorts in mesh auxiliary data
int nskinvert; // number of vertices in all skins int nskinvert; // number of vertices in all skins
int nskintexvert; // number of vertices with texcoord in all skins int nskintexvert; // number of vertices with texcoord in all skins
int nskinface; // number of faces in all skins int nskinface; // number of faces in all skins
int nskinbone; // number of bones in all skins int nskinbone; // number of bones in all skins
int nskinbonevert; // number of vertices in all skins int nskinbonevert; // number of vertices in all skins
int nhfielddata; // number of data points in all hfields int nhfielddata; // number of data points in all hfields
int ntexdata; // number of texture bytes int ntexdata; // number of texture bytes
int nwrap; // number of wrap objects in all tendon paths int nwrap; // number of wrap objects in all tendon paths
int nsensordata; // number of mjtNums in sensor data vector int nsensordata; // number of mjtNums in sensor data vector
int nnumericdata; // number of mjtNums in all custom fields int nnumericdata; // number of mjtNums in all custom fields
int ntextdata; // number of chars in all text fields, including 0 int ntextdata; // number of chars in all text fields, including 0
int ntupledata; // number of objects in all tuple fields int ntupledata; // number of objects in all tuple fields
int npluginattr; // number of chars in all plugin config attributes int npluginattr; // number of chars in all plugin config attributes
int nnames; // number of chars in all names int nnames; // number of chars in all names
int npaths; // number of chars in all paths int npaths; // number of chars in all paths
int nM; // number of non-zeros in sparse inertia matrix int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix int nB; // number of non-zeros in sparse body-dof matrix
//------------------------ object lists
// objects created here // objects created here
std::vector<mjCFlex*> flexes; // list of flexes std::vector<mjCFlex*> flexes; // list of flexes
std::vector<mjCMesh*> meshes; // list of meshes std::vector<mjCMesh*> meshes; // list of meshes
@@ -254,25 +250,24 @@ class mjCModel : private mjmModel {
std::vector<mjCCamera*> cameras; // list of cameras std::vector<mjCCamera*> cameras; // list of cameras
std::vector<mjCLight*> lights; // list of lights std::vector<mjCLight*> lights; // list of lights
//------------------------ internal variables
// array of pointers to each object list (enumerated by type) // array of pointers to each object list (enumerated by type)
std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists; std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
// statistics, as computed by mj_setConst // statistics, as computed by mj_setConst
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
double meanmass_auto; // mean body mass, as computed by mj_setConst double meanmass_auto; // mean body mass, as computed by mj_setConst
double meansize_auto; // mean body size, as computed by mj_setConst double meansize_auto; // mean body size, as computed by mj_setConst
double extent_auto; // spatial extent, as computed by mj_setConst double extent_auto; // spatial extent, as computed by mj_setConst
double center_auto[3]; // center of model, as computed by mj_setConst double center_auto[3]; // center of model, as computed by mj_setConst
// map from object names to ids
mjListKeyMap ids;
bool compiled; // already compiled flag (cannot be compiled again) mjListKeyMap ids; // map from object names to ids
mjCError errInfo; // last error info bool compiled; // already compiled flag (cannot be compiled again)
int fixCount; // how many bodies have been fixed mjCError errInfo; // last error info
std::vector<mjtNum> qpos0; // save qpos0, to recognize changed key_qpos in write int fixCount; // how many bodies have been fixed
// save qpos0, to recognize changed key_qpos in write
std::vector<mjtNum> qpos0;
// variable-size attributes // variable-size attributes
std::string comment_; // comment at top of XML std::string comment_; // comment at top of XML