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Move mesh inertia specification from global <compiler> to <asset/mesh>.

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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
This commit is contained in:
Alessio Quaglino
2024-10-23 07:05:32 -07:00
committed by Copybara-Service
parent 0c97dcf1fd
commit b598d79b3f
19 changed files with 170 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_init.c
+1
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@@ -246,6 +246,7 @@ void mjs_defaultMesh(mjsMesh* mesh) {
mesh->refquat[0] = 1;
mesh->scale[0] = mesh->scale[1] = mesh->scale[2] = 1;
mesh->maxhullvert = -1;
mesh->inertia = mjINERTIA_LEGACY;
}
src/user/user_mesh.cc
+22 -22
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@@ -1250,22 +1250,24 @@ void mjCMesh::LoadMSH(mjResource* resource) {
void mjCMesh::ComputeVolume(double CoM[3], mjtGeomInertia type,
const double facecen[3], bool exactmeshinertia) {
const double facecen[3]) {
double nrm[3];
double cen[3];
GetVolumeRef(type) = 0;
mjuu_zerovec(CoM, 3);
for (int i=0; i < nface(); i++) {
int nf = (inertia == mjINERTIA_CONVEX) ? graph_[1] : nface();
int* f = (inertia == mjINERTIA_CONVEX) ? graph_ + 2 + 3*(graph_[0]+graph_[1]) : face_.data();
float* vv = vert_.data();
for (int i=0; i < nf; i++) {
// get area, normal and center
float* vv = vert_.data();
double a = _triangle(nrm, cen, vv+3*face_[3*i], vv+3*face_[3*i+1], vv+3*face_[3*i+2]);
double a = _triangle(nrm, cen, vv+3*f[3*i], vv+3*f[3*i+1], vv+3*f[3*i+2]);
// compute and add volume
const double vec[3] = {cen[0]-facecen[0], cen[1]-facecen[1], cen[2]-facecen[2]};
double vol = type==mjINERTIA_SHELL ? a : mjuu_dot3(vec, nrm) * a / 3;
// if legacy computation requested, then always positive
if (!exactmeshinertia && type==mjINERTIA_VOLUME) {
if (inertia == mjINERTIA_LEGACY) {
vol = abs(vol);
}
@@ -1410,21 +1412,17 @@ void mjCMesh::Process() {
for ( const auto type : { mjtGeomInertia::mjINERTIA_VOLUME, mjtGeomInertia::mjINERTIA_SHELL } ) {
double CoM[3] = {0, 0, 0};
double inert[6] = {0, 0, 0, 0, 0, 0};
bool exactmeshinertia = model->exactmeshinertia;
// compute CoM and volume from pyramid volumes
ComputeVolume(CoM, type, facecen, model->exactmeshinertia);
ComputeVolume(CoM, type, facecen);
// perform computation with convex mesh if volume is negative
if (GetVolumeRef(type) <= 0 && exactmeshinertia) {
mju_warning("Malformed mesh '%s', computing mesh inertia from convex hull", name.c_str());
exactmeshinertia = false;
ComputeVolume(CoM, type, facecen, exactmeshinertia);
}
// if volume is still invalid, skip the rest of the computations
// if volume is invalid, skip the rest of the computations
if (GetVolumeRef(type) < mjMINVAL) {
validvolume_ = GetVolumeRef(type) < 0 ? -1 : 0;
if (type == mjINERTIA_SHELL) {
validarea_ = 0;
} else {
validvolume_ = GetVolumeRef(type) < 0 ? -1 : 0;
}
continue;
}
@@ -1447,17 +1445,19 @@ void mjCMesh::Process() {
const int k[6][2] = {{0, 0}, {1, 1}, {2, 2}, {0, 1}, {0, 2}, {1, 2}};
double P[6] = {0, 0, 0, 0, 0, 0};
GetVolumeRef(type) = 0;
for (int i=0; i < nface(); i++) {
float* D = vert_.data()+3*face_[3*i];
float* E = vert_.data()+3*face_[3*i+1];
float* F = vert_.data()+3*face_[3*i+2];
int nf = (inertia == mjINERTIA_CONVEX) ? graph_[1] : nface();
int* f = (inertia == mjINERTIA_CONVEX) ? graph_ + 2 + 3*(graph_[0]+graph_[1]) : face_.data();
for (int i=0; i < nf; i++) {
float* D = vert_.data()+3*f[3*i];
float* E = vert_.data()+3*f[3*i+1];
float* F = vert_.data()+3*f[3*i+2];
// get area, normal and center; update volume
double a = _triangle(nrm, cen, D, E, F);
double vol = type==mjINERTIA_SHELL ? a : mjuu_dot3(cen, nrm) * a / 3;
// if legacy computation requested, then always positive
if (!exactmeshinertia && type==mjINERTIA_VOLUME) {
if (inertia == mjINERTIA_LEGACY) {
vol = abs(vol);
}
@@ -1554,7 +1554,7 @@ void mjCMesh::CheckMesh(mjtGeomInertia type) {
if (!processed_) {
return;
}
if ((invalidorientation_.first>=0 || invalidorientation_.second>=0) && model->exactmeshinertia)
if ((invalidorientation_.first>=0 || invalidorientation_.second>=0) && inertia == mjINERTIA_EXACT)
throw mjCError(this,
"faces of mesh '%s' have inconsistent orientation. Please check the "
"faces containing the vertices %d and %d.",
src/user/user_objects.h
+2 -2
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@@ -868,6 +868,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
const std::vector<float>& UserTexcoord() const { return spec_texcoord_; }
const std::vector<int>& Face() const { return face_; }
const std::vector<int>& UserFace() const { return spec_face_; }
mjtMeshInertia Inertia() const { return spec.inertia; }
// setters
void SetNeedHull(bool needhull) { needhull_ = needhull; }
@@ -945,8 +946,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
std::vector<unsigned char> num_face_vertices_;
// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtGeomInertia type, const double facecen[3],
bool exactmeshinertia);
void ComputeVolume(double CoM[3], mjtGeomInertia gtype, const double facecen[3]);
};
src/xml/xml_base.h
+1
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@@ -69,6 +69,7 @@ extern const mjMap bias_map[];
extern const mjMap stage_map[];
extern const mjMap datatype_map[];
extern const mjMap meshtype_map[];
extern const mjMap meshinertia_map[];
extern const mjMap flexself_map[];
src/xml/xml_native_reader.cc
+16 -9
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@@ -97,11 +97,10 @@ static void UpdateString(string& psuffix, int count, int i) {
const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
{"compiler", "*", "21", "autolimits", "boundmass", "boundinertia", "settotalmass",
{"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
"balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
"meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
"fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia",
"assetdir", "alignfree"},
"fusestatic", "inertiafromgeom", "inertiagrouprange", "assetdir", "alignfree"},
{"<"},
{"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
"accel", "maxforce", "timeconst", "timestep",
@@ -150,7 +149,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"default", "R", "1", "class"},
{"<"},
{"mesh", "?", "2", "scale", "maxhullvert"},
{"mesh", "?", "3", "scale", "maxhullvert", "inertia"},
{"material", "?", "10", "texture", "emission", "specular", "shininess",
"reflectance", "metallic", "roughness", "rgba", "texrepeat", "texuniform"},
{"joint", "?", "22", "type", "group", "pos", "axis", "springdamper",
@@ -226,9 +225,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"asset", "*", "0"},
{"<"},
{"mesh", "*", "13", "name", "class", "content_type", "file", "vertex", "normal",
{"mesh", "*", "14", "name", "class", "content_type", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal",
"maxhullvert"},
"maxhullvert", "inertia"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
@@ -790,6 +789,14 @@ const mjMap meshtype_map[2] = {
};
// mesh inertia type
const mjMap meshinertia_map[3] = {
{"convex", mjINERTIA_CONVEX},
{"legacy", mjINERTIA_LEGACY},
{"exact", mjINERTIA_EXACT}
};
// flexcomp type
const mjMap fcomp_map[mjNFCOMPTYPES] = {
{"grid", mjFCOMPTYPE_GRID},
@@ -1020,9 +1027,6 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
}
MapValue(section, "inertiafromgeom", &spec->inertiafromgeom, TFAuto_map, 3);
ReadAttr(section, "inertiagrouprange", 2, spec->inertiagrouprange, text);
if (MapValue(section, "exactmeshinertia", &n, bool_map, 2)){
spec->exactmeshinertia = (n==1);
}
if (MapValue(section, "alignfree", &n, bool_map, 2)) {
spec->alignfree = (n==1);
}
@@ -1424,6 +1428,9 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
ReadAttr(elem, "refpos", 3, mesh->refpos, text);
ReadAttr(elem, "refquat", 4, mesh->refquat, text);
ReadAttr(elem, "scale", 3, mesh->scale, text);
if (MapValue(elem, "inertia", &n, meshinertia_map, 3)) {
mesh->inertia = (mjtMeshInertia)n;
}
XMLElement* eplugin = FirstChildElement(elem, "plugin");
if (eplugin) {
src/xml/xml_native_writer.cc
+4 -3
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@@ -212,6 +212,9 @@ void mjXWriter::OneMesh(XMLElement* elem, const mjCMesh* mesh, mjCDef* def) {
}
WriteAttrTxt(elem, "content_type", mesh->ContentType());
WriteAttrTxt(elem, "file", mesh->File());
if (mesh->Inertia() != def->Mesh().Inertia()) {
WriteAttrTxt(elem, "inertia", FindValue(meshinertia_map, 3, mesh->Inertia()));
}
// write vertex data
if (!mesh->UserVert().empty()) {
@@ -930,9 +933,7 @@ void mjXWriter::Compiler(XMLElement* root) {
if (!model->usethread) {
WriteAttrTxt(section, "usethread", "false");
}
if (model->exactmeshinertia) {
WriteAttrTxt(section, "exactmeshinertia", "true");
}
if (model->boundmass) {
WriteAttr(section, "boundmass", 1, &model->boundmass);
}