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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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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,