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Convert mjmStruct to a C-struct.

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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
This commit is contained in:
Alessio Quaglino
2024-02-01 06:56:46 -08:00
committed by Copybara-Service
parent 7a98038e88
commit b3f93d436b
7 changed files with 103 additions and 65 deletions
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src/user/user_composite.cc
+3 -3
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@@ -1243,7 +1243,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
mjCSkin* skin = model->AddSkin();
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
skin->name = txt;
skin->material = skinmaterial;
skin->set_material(skinmaterial);
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
skin->group = skingroup;
@@ -1845,7 +1845,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
mjCSkin* skin = model->AddSkin();
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
skin->name = txt;
skin->material = skinmaterial;
skin->set_material(skinmaterial);
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
skin->group = skingroup;
@@ -1998,7 +1998,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
mjCSkin* skin = model->AddSkin();
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
skin->name = txt;
skin->material = skinmaterial;
skin->set_material(skinmaterial);
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate;
skin->group = skingroup;
src/user/user_mesh.cc
+9 -9
View File
@@ -1878,7 +1878,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
// clear data
file.clear();
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
inflate = 0;
@@ -1903,7 +1903,7 @@ mjCSkin::mjCSkin(mjCModel* _model) {
// destructor
mjCSkin::~mjCSkin() {
file.clear();
material.clear();
material_.clear();
vert.clear();
texcoord.clear();
face.clear();
@@ -2005,11 +2005,11 @@ void mjCSkin::Compile(const mjVFS* vfs) {
}
// resolve material name
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material);
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
if (pmat) {
matid = pmat->id;
} else if (!material.empty()) {
throw mjCError(this, "unkown material '%s' in skin", material.c_str());
} else if (!material_.empty()) {
throw mjCError(this, "unkown material '%s' in skin", material_.c_str());
}
// set total vertex weights to 0
@@ -2239,7 +2239,7 @@ mjCFlex::mjCFlex(mjCModel* _model) {
group = 0;
edgestiffness = 0;
edgedamping = 0;
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
@@ -2314,11 +2314,11 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// resolve material name
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material);
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
if (pmat) {
matid = pmat->id;
} else if (!material.empty()) {
throw mjCError(this, "unkown material '%s' in flex", material.c_str());
} else if (!material_.empty()) {
throw mjCError(this, "unkown material '%s' in flex", material_.c_str());
}
// resolve body ids
src/user/user_model.cc
+17 -17
View File
@@ -653,8 +653,8 @@ void mjCModel::MakeLists(mjCBody* body) {
template <class T>
void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
for (T* plist : list) {
if (name.empty() || plist->material == name) {
plist->material.clear();
if (name.empty() || plist->material_ == name) {
plist->material_.clear();
}
}
}
@@ -775,12 +775,12 @@ void mjCModel::IndexAssets(bool discard) {
mjCGeom* pgeom = geoms[i];
// find material by name
if (!pgeom->material.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->material);
if (!pgeom->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->material_);
if (m) {
pgeom->matid = m->id;
} else {
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->material.c_str(), i);
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->material_.c_str(), i);
}
}
@@ -822,12 +822,12 @@ void mjCModel::IndexAssets(bool discard) {
mjCSkin* pskin = skins[i];
// find material by name
if (!pskin->material.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pskin->material);
if (!pskin->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pskin->material_);
if (m) {
pskin->matid = m->id;
} else {
throw mjCError(pskin, "material '%s' not found in skin %d", pskin->material.c_str(), i);
throw mjCError(pskin, "material '%s' not found in skin %d", pskin->material_.c_str(), i);
}
}
}
@@ -837,12 +837,12 @@ void mjCModel::IndexAssets(bool discard) {
mjCSite* psite = sites[i];
// find material by name
if (!psite->material.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, psite->material);
if (!psite->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, psite->get_material());
if (m) {
psite->matid = m->id;
} else {
throw mjCError(psite, "material '%s' not found in site %d", psite->material.c_str(), i);
throw mjCError(psite, "material '%s' not found in site %d", psite->material_.c_str(), i);
}
}
}
@@ -852,12 +852,12 @@ void mjCModel::IndexAssets(bool discard) {
mjCTendon* pten = tendons[i];
// find material by name
if (!pten->material.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pten->material);
if (!pten->material_.empty()) {
mjCBase* m = FindObject(mjOBJ_MATERIAL, pten->material_);
if (m) {
pten->matid = m->id;
} else {
throw mjCError(pten, "material '%s' not found in tendon %d", pten->material.c_str(), i);
throw mjCError(pten, "material '%s' not found in tendon %d", pten->material_.c_str(), i);
}
}
}
@@ -1718,7 +1718,7 @@ void mjCModel::CopyTree(mjModel* m) {
copyvec(m->site_size+3*sid, ps->size, 3);
copyvec(m->site_pos+3*sid, ps->pos, 3);
copyvec(m->site_quat+4*sid, ps->quat, 4);
copyvec(m->site_user+nuser_site*sid, ps->userdata.data(), nuser_site);
copyvec(m->site_user+nuser_site*sid, ps->userdata_.data(), nuser_site);
copyvec(m->site_rgba+4*sid, ps->rgba, 4);
// determine sameframe
@@ -2901,7 +2901,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (nuser_site == -1) {
nuser_site = 0;
for (int i=0; i<sites.size(); i++) {
nuser_site = mjMAX(nuser_site, sites[i]->spec.userdata.size());
nuser_site = mjMAX(nuser_site, sites[i]->spec_userdata_.size());
}
}
if (nuser_cam == -1) {
@@ -3407,7 +3407,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
copyvec(sites[i]->rgba, m->site_rgba+4*i, 4);
if (nuser_site) {
copyvec(sites[i]->userdata.data(), m->site_user + nuser_site*i, nuser_site);
copyvec(sites[i]->userdata_.data(), m->site_user + nuser_site*i, nuser_site);
}
}
src/user/user_objects.cc
+11 -8
View File
@@ -497,7 +497,7 @@ void mjCDef::Compile(const mjCModel* model) {
// enforce length of all default userdata arrays
joint.userdata.resize(model->nuser_jnt);
geom.userdata.resize(model->nuser_geom);
site.userdata.resize(model->nuser_site);
site.userdata_.resize(model->nuser_site);
camera.userdata.resize(model->nuser_cam);
tendon.userdata.resize(model->nuser_tendon);
actuator.userdata.resize(model->nuser_actuator);
@@ -1356,7 +1356,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
density = 1000; // water density (1000 kg / m^3)
meshname.clear();
fitscale = 1;
material.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
userdata.clear();
@@ -1931,14 +1931,13 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
spec.group = 0;
mjuu_setvec(spec.quat, 1, 0, 0, 0);
mjuu_setvec(spec.pos, 0, 0, 0);
spec.material.clear();
spec.material = nullptr;
spec.rgba[0] = spec.rgba[1] = spec.rgba[2] = 0.5f;
spec.rgba[3] = 1.0f;
spec.fromto[0] = mjNAN;
spec.userdata.clear();
spec.userdata = nullptr;
// clear internal variables
spec.material.clear();
body = 0;
matid = -1;
@@ -1960,6 +1959,10 @@ mjCSite::mjCSite(mjCModel* _model, mjCDef* _def) {
void mjCSite::CopyFromSpec() {
*static_cast<mjmSite*>(this) = spec;
userdata_ = spec_userdata_;
material_ = spec_material_;
userdata = userdata_.data();
material = material_.data();
}
@@ -1969,11 +1972,11 @@ void mjCSite::Compile(void) {
CopyFromSpec();
// resize userdata
if (userdata.size() > model->nuser_site) {
if (userdata_.size() > model->nuser_site) {
throw mjCError(this, "user has more values than nuser_site in site '%s' (id = %d)",
name.c_str(), id);
}
userdata.resize(model->nuser_site);
userdata_.resize(model->nuser_site);
// check type
if (type<0 || type>=mjNGEOMTYPES) {
@@ -3500,7 +3503,7 @@ void mjCEquality::Compile(void) {
mjCTendon::mjCTendon(mjCModel* _model, mjCDef* _def) {
// tendon defaults
group = 0;
material.clear();
material_.clear();
width = 0.003;
limited = 2;
range[0] = 0;
src/user/user_objects.h
+35 -6
View File
@@ -390,6 +390,9 @@ class mjCGeom : public mjCBase {
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// Compute all coefs modeling the interaction with the surrounding fluid.
void SetFluidCoefs(void);
// Compute the kappa coefs of the added inertia due to the surrounding fluid.
@@ -418,7 +421,6 @@ class mjCGeom : public mjCBase {
std::string hfieldname; // hfield attached to geom
std::string meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
std::string material; // name of material used for rendering
std::vector<double> userdata; // user data
float rgba[4]; // rgba when material is omitted
mjtMeshType typeinertia; // selects between surface and volume inertia
@@ -440,6 +442,7 @@ class mjCGeom : public mjCBase {
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
std::string material_; // name of material used for rendering
bool visual_; // true: geom does not collide and is unreferenced
int matid; // id of geom's material
mjCMesh* mesh; // geom's mesh
@@ -461,8 +464,8 @@ typedef struct _mjmSite {
double size[3]; // geom size for rendering
double pos[3]; // position
double quat[4]; // orientation
std::string material; // name of material for rendering
std::vector<double> userdata; // user data
char* material; // name of material for rendering
double* userdata; // user data
float rgba[4]; // rgba when material is omitted
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjCAlternative alt; // alternative orientation specification
@@ -478,12 +481,30 @@ class mjCSite : public mjCBase, private mjmSite {
public:
mjmSite spec; // variables set by user
void set_material(std::string _material) {
spec_material_ = _material;
spec.material = spec_material_.data();
}
void set_userdata(std::vector<double> _userdata) {
spec_userdata_ = _userdata;
spec.userdata = spec_userdata_.data();
}
std::vector<double>& get_userdata() { return userdata_; }
std::string& get_material() { return material_; }
// variables computed by 'compile' and 'mjCBody::addSite'
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
void CopyFromSpec(); // copy spec into attributes
// variable-size data
std::string material_;
std::vector<double> userdata_;
std::string spec_material_;
std::vector<double> spec_userdata_;
mjCBody* body; // site's body
int matid; // material id for rendering
};
@@ -573,6 +594,9 @@ class mjCFlex: public mjCBase {
friend class mjXWriter;
public:
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
@@ -595,7 +619,6 @@ class mjCFlex: public mjCBase {
int group; // group for visualizatioh
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
std::vector<std::string> vertbody; // vertex body names
@@ -626,6 +649,7 @@ class mjCFlex: public mjCBase {
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::string material_; // name of material used for rendering
};
@@ -799,9 +823,10 @@ class mjCSkin: public mjCBase {
public:
std::string get_file() const { return file; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
std::string file; // skin file
std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
@@ -824,6 +849,7 @@ class mjCSkin: public mjCBase {
void Compile(const mjVFS* vfs); // compiler
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
std::string material_; // name of material used for rendering
int matid; // material id
std::vector<int> bodyid; // body ids
};
@@ -1059,6 +1085,9 @@ class mjCTendon : public mjCBase {
friend class mjXWriter;
public:
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// API for adding wrapping objects
void WrapSite(std::string name, int row=-1, int col=-1); // site
void WrapGeom(std::string name, std::string side, int row=-1, int col=-1); // geom
@@ -1071,7 +1100,6 @@ class mjCTendon : public mjCBase {
// variables set by user
int group; // group for visualization
std::string material; // name of material for rendering
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
@@ -1092,6 +1120,7 @@ class mjCTendon : public mjCBase {
~mjCTendon(); // destructor
void Compile(void); // compiler
std::string material_; // name of material for rendering
int matid; // material id for rendering
std::vector<mjCWrap*> path; // wrapping objects
};