Allow mesh data to be reuploaded without having to recreate the mesh.

Splits mjrfMeshData into config+data parts.

PiperOrigin-RevId: 952042545
Change-Id: I19a572a0f591fa0d33bbc2c32b974efc075310f4

doc/APIreference/APItypes.rst

@@ -1452,12 +1452,22 @@ culling. Alternatively, the bounds can be computed at runtime (though there is a
 are provided (or calculated), then frustum culling will not be performed.
 
 
+.. _mjrfMeshConfig:
+
+mjrfMeshConfig
+~~~~~~~~~~~~~~~~~
+
+Parameters for creating a :ref:`mesh<mjrfMesh>`.
+
+.. mujoco-include:: mjrfMeshConfig
+
+
 .. _mjrfMeshData:
 
 mjrfMeshData
 ~~~~~~~~~~~~
 
-Binary data used for creating a :ref:`mesh<mjrfMesh>`.
+Binary data for a :ref:`mesh<mjrfMesh>`.
 
 .. mujoco-include:: mjrfMeshData
 

doc/APIreference/functions.rst

@@ -3249,14 +3249,14 @@ Returns the height of the texture.
 Returns the sampler type (mjrSamplerType) used by the texture.
 [returns: mjrSamplerType]
 
-.. _mjrf_defaultMeshData:
+.. _mjrf_defaultMeshConfig:
 
-`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`mjrf_defaultMeshConfig <#mjrf_defaultMeshConfig>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. mujoco-include:: mjrf_defaultMeshData
+.. mujoco-include:: mjrf_defaultMeshConfig
 
-Initializes the mjrfMeshData to default values.
+Initializes the mjrfMeshConfig to default values.
 
 .. _mjrf_createMesh:
 
@@ -3265,7 +3265,7 @@ Initializes the mjrfMeshData to default values.
 
 .. mujoco-include:: mjrf_createMesh
 
-Creates a mesh with the given data.
+Creates an empty mesh with the given config.
 
 .. _mjrf_destroyMesh:
 
@@ -3276,6 +3276,24 @@ Creates a mesh with the given data.
 
 Destroys the mesh.
 
+.. _mjrf_defaultMeshData:
+
+`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjrf_defaultMeshData
+
+Initializes the mjrfMeshData to default values.
+
+.. _mjrf_setMeshData:
+
+`mjrf_setMeshData <#mjrf_setMeshData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjrf_setMeshData
+
+Uploads the given mesh data to the mesh.
+
 .. _mjrf_defaultSceneParams:
 
 `mjrf_defaultSceneParams <#mjrf_defaultSceneParams>`__

doc/changelog.rst

@@ -66,6 +66,9 @@ Engine
    - :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only affects
      negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
    - Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
+   - Split up :ref:`mjrfMeshData` into `mjrfMeshData` and `mjrfMeshConfig` to allow reuploading of mesh data without
+     having to recreate the mesh object. Introduces :ref:`mjrfDefaultMeshConfig` and :ref:`mjrfSetMeshData` functions.
+   - Removed `bytes` field from :ref:`mjrVertexAttribute`.
 
 .. admonition:: Breaking ABI changes
    :class: caution

doc/includes/references.h

@@ -1425,7 +1425,6 @@ typedef struct mjrRendererInfo_ {  // active renderer identity
   const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
 } mjrRendererInfo;
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
-  const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
   int type;                           // float3, ubyte4, etc. [mjrVertexAttributeType]
 } mjrVertexAttribute;
@@ -1580,15 +1579,20 @@ typedef struct mjrfTextureData_ {
   mjrfCallback release;            // callback when data has finished uploading
   void* user_data;                 // user data for release callback
 } mjrfTextureData;
-typedef struct mjrfMeshData_ {
-  mjtSize num_vertices;         // number of vertices; all vertex attributes share this size
-  int num_attributes;           // number of attributes defined
+typedef struct mjrfMeshConfig_ {
+  mjtSize max_vertices;         // maximum number of vertices
+  mjtSize max_indices;          // maximum number of indices
+  int num_attributes;           // number of defined attributes
   mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
   mjtBool interleaved;          // true if vertex attributes are interleaved
-  mjtSize num_indices;          // number of indices
-  const void* indices;          // indices data array
   int index_type;               // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
   int primitive_type;           // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
+} mjrfMeshConfig;
+typedef struct mjrfMeshData_ {
+  mjtSize num_vertices;         // number of vertices
+  const void* vertices[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute data arrays
+  mjtSize num_indices;          // number of indices
+  const void* indices;          // indices data array
   mjtBool compute_bounds;       // if true, compute bounds from vertex positions
   float bounds_min[3];          // min/max bounds; assume unset if bounds_min == bounds_max
   float bounds_max[3];
@@ -3422,9 +3426,11 @@ void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
 int mjrf_getTextureWidth(const mjrfTexture* texture);
 int mjrf_getTextureHeight(const mjrfTexture* texture);
 int mjrf_getTextureSamplerType(const mjrfTexture* texture);
-void mjrf_defaultMeshData(mjrfMeshData* data);
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshData* data);
+void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
+mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
 void mjrf_destroyMesh(mjrfMesh* mesh);
+void mjrf_defaultMeshData(mjrfMeshData* data);
+void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
 void mjrf_defaultSceneParams(mjrfSceneParams* params);
 mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
 void mjrf_destroyScene(mjrfScene* scene);