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Move ntree to mjModel allocator sizes

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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
This commit is contained in:
Yuval Tassa
2025-08-16 09:15:52 -07:00
committed by Copybara-Service
parent 1447711037
commit c0096b51a4
9 changed files with 48 additions and 20 deletions
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doc/includes/references.h
+1 -1
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@@ -964,6 +964,7 @@ struct mjModel_ {
int nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
int noct; // number of total octree cells in all meshes
int njnt; // number of joints
int ntree; // number of kinematic trees under world body
int nM; // number of non-zeros in sparse inertia matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
@@ -1032,7 +1033,6 @@ struct mjModel_ {
// sizes set after mjModel construction
int nnames_map; // number of slots in the names hash map
int nJmom; // number of non-zeros in sparse actuator_moment matrix
int ntree; // number of kinematic trees under world body
int ngravcomp; // number of bodies with nonzero gravcomp
int nemax; // number of potential equality-constraint rows
int njmax; // number of available rows in constraint Jacobian (legacy)
include/mujoco/mjmodel.h
+1 -1
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@@ -654,6 +654,7 @@ struct mjModel_ {
int nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
int noct; // number of total octree cells in all meshes
int njnt; // number of joints
int ntree; // number of kinematic trees under world body
int nM; // number of non-zeros in sparse inertia matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
@@ -722,7 +723,6 @@ struct mjModel_ {
// sizes set after mjModel construction
int nnames_map; // number of slots in the names hash map
int nJmom; // number of non-zeros in sparse actuator_moment matrix
int ntree; // number of kinematic trees under world body
int ngravcomp; // number of bodies with nonzero gravcomp
int nemax; // number of potential equality-constraint rows
int njmax; // number of available rows in constraint Jacobian (legacy)
include/mujoco/mjxmacro.h
+1 -1
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@@ -77,6 +77,7 @@
X( nbvhdynamic ) \
X( noct ) \
X( njnt ) \
X( ntree ) \
X( nM ) \
X( nB ) \
X( nC ) \
@@ -143,7 +144,6 @@
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( ntree ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
python/mujoco/introspect/structs.py
+5 -5
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@@ -883,6 +883,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of joints',
),
StructFieldDecl(
name='ntree',
type=ValueType(name='int'),
doc='number of kinematic trees under world body',
),
StructFieldDecl(
name='nM',
type=ValueType(name='int'),
@@ -1213,11 +1218,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of non-zeros in sparse actuator_moment matrix',
),
StructFieldDecl(
name='ntree',
type=ValueType(name='int'),
doc='number of kinematic trees under world body',
),
StructFieldDecl(
name='ngravcomp',
type=ValueType(name='int'),
src/engine/engine_io.c
+5 -4
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@@ -463,7 +463,7 @@ static void freeModelBuffers(mjModel* m) {
// allocate and initialize mjModel structure
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int noct, int njnt,
int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ntree,
int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
@@ -505,6 +505,7 @@ void mj_makeModel(mjModel** dest,
m->nbvhdynamic = nbvhdynamic;
m->noct = noct;
m->njnt = njnt;
m->ntree = ntree;
m->nM = nM;
m->nB = nB;
m->nC = nC;
@@ -648,8 +649,8 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
if (!dest) {
mj_makeModel(
&dest, src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->nM,
src->nB, src->nC, src->nD, src->ngeom, src->nsite, src->ncam,
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->ntree,
src->nM, src->nB, src->nC, src->nD, src->ngeom, src->nsite, src->ncam,
src->nlight, src->nflex, src->nflexnode, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexelemedge,
src->nflexshelldata, src->nflexevpair, src->nflextexcoord, src->nmesh,
@@ -845,7 +846,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69],
ints[70], ints[71], ints[72], ints[73]);
ints[70], ints[71], ints[72], ints[73], ints[74]);
// read mjModel mjtSize fields
mjtSize sizes[8];
src/engine/engine_io.h
+2 -2
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@@ -53,8 +53,8 @@ void mj_defaultStatistic(mjStatistic* stat);
// allocate mjModel
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int noct,
int njnt, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight, int nflex,
int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int njnt, int ntree, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight,
int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nmesh,
int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface, int nmeshgraph, int nmeshpoly,
int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert, int nskintexvert, int nskinface,
src/user/user_model.cc
+31 -5
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@@ -2088,12 +2088,33 @@ void mjCModel::SetSizes() {
ntuple = (int)tuples_.size();
nkey = (int)keys_.size();
nplugin = (int)plugins_.size();
nq = nv = nu = na = nmocap = 0;
nq = nv = ntree = nu = na = nmocap = 0;
// nq, nv
// nq, nv, ntree
for (int i=0; i < njnt; i++) {
nq += joints_[i]->nq();
nv += joints_[i]->nv();
// increment ntree if this is the first joint in a moving body with static ancestry
mjCBody* parent = joints_[i]->GetParent();
bool is_first_joint = joints_[i] == parent->joints[0];
if (is_first_joint) {
// check if all ancestors are static
bool static_ancestry = true;
mjCBody* ancestor = parent;
while (ancestor != bodies_[0]) {
ancestor = ancestor->GetParent();
if (!ancestor->joints.empty()) {
static_ancestry = false;
break;
}
}
// if all ancestors are static, this joint starts a new kinematic tree
if (static_ancestry) {
ntree++;
}
}
}
// nu, na
@@ -2899,7 +2920,12 @@ void mjCModel::CopyTree(mjModel* m) {
}
m->dof_treeid[i] = ntree - 1;
}
m->ntree = ntree;
// check number of trees constructed, SHOULD NOT OCCUR
if (ntree != m->ntree) {
throw mjCError(0, "unexpected number of TREEs. Counted %d, expected %d",
nullptr, ntree, m->ntree);
}
// compute body_treeid
for (int i=0; i < nbody; i++) {
@@ -4770,8 +4796,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// create low-level model
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, nM, nB, nC, nD,
ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ntree, nM, nB, nC,
nD, ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert, nskinface, nskinbone,
src/user/user_model.h
+1
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@@ -84,6 +84,7 @@ class mjCModel_ : public mjsElement {
int nv; // number of degrees of freedom = dim(qvel)
int nu; // number of actuators/controls
int na; // number of activation variables
int ntree; // number of trees
int nbvh; // number of total boundary volume hierarchies
int nbvhstatic; // number of static boundary volume hierarchies
int nbvhdynamic; // number of dynamic boundary volume hierarchies
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -5254,6 +5254,7 @@ public unsafe struct mjModel_ {
public int nbvhdynamic;
public int noct;
public int njnt;
public int ntree;
public int nM;
public int nB;
public int nC;
@@ -5320,7 +5321,6 @@ public unsafe struct mjModel_ {
public int npaths;
public int nnames_map;
public int nJmom;
public int ntree;
public int ngravcomp;
public int nemax;
public int njmax;