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Replace hard-coded mjNCATENARY with mjVisual.quality.numslices.

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PiperOrigin-RevId: 675157138
Change-Id: I87ea16e4df8ed63b301ceaeac6e1b1d0513b77a0
This commit is contained in:
Yuval Tassa
2024-09-16 08:24:10 -07:00
committed by Copybara-Service
parent 4628a5e438
commit ce3681a26d
2 changed files with 16 additions and 11 deletions
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src/engine/engine_vis_visualize.c
+15 -8
View File
@@ -530,7 +530,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
const mjvPerturb* pert, int catmask, mjvScene* scn) { const mjvPerturb* pert, int catmask, mjvScene* scn) {
int objtype, category; int objtype, category;
mjtNum sz[3], mat[9], selpos[3]; mjtNum sz[3], mat[9], selpos[3];
mjtNum catenary[3*mjNCATENARY];
mjtNum *cur, *nxt, *xfrc; mjtNum *cur, *nxt, *xfrc;
mjtNum vec[3], end[3], axis[3], rod, len, det, tmp[9], quat[4]; mjtNum vec[3], end[3], axis[3], rod, len, det, tmp[9], quat[4];
mjtByte broken; mjtByte broken;
@@ -1817,8 +1816,15 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
length = m->tendon_lengthspring[2*i+1]; length = m->tendon_lengthspring[2*i+1];
} }
// get number of points along catenary path
int ncatenary = m->vis.quality.numslices + 1;
// allocate catenary
mj_markStack(d);
mjtNum* catenary = mj_stackAllocNum(d, 3*ncatenary);
// points along catenary path // points along catenary path
int npoints = mjv_catenary(x0, x1, m->opt.gravity, length, catenary); int npoints = mjv_catenary(x0, x1, m->opt.gravity, length, catenary, ncatenary);
// draw npoints-1 segments // draw npoints-1 segments
for (int j=0; j < npoints-1; j++) { for (int j=0; j < npoints-1; j++) {
@@ -1839,6 +1845,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
FINISH FINISH
} }
mj_freeStack(d);
} }
} }
} }
@@ -2854,7 +2861,7 @@ static inline mjtNum solve_catenary(mjtNum v, mjtNum h, mjtNum length) {
// points along catenary of given length between x0 and x1, returns number of points // points along catenary of given length between x0 and x1, returns number of points
int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length, int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
mjtNum catenary[3*mjNCATENARY]) { mjtNum* catenary, int ncatenary) {
mjtNum dist = mju_dist3(x0, x1); mjtNum dist = mju_dist3(x0, x1);
// tendon is stretched longer than length: draw straight line // tendon is stretched longer than length: draw straight line
@@ -2914,7 +2921,7 @@ int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3]
return 3; return 3;
} }
// compute catenary: mjNCATENARY points // compute full catenary: ncatenary points
else { else {
// b*h: scaled catenary flatness // b*h: scaled catenary flatness
mjtNum bh = solve_catenary(v, h, length) * h; mjtNum bh = solve_catenary(v, h, length) * h;
@@ -2927,9 +2934,9 @@ int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3]
mju_copy3(catenary+0, x0); mju_copy3(catenary+0, x0);
// hanging points // hanging points
for (int i=1; i < mjNCATENARY-1; i++) { for (int i=1; i < ncatenary-1; i++) {
// linearly spaced horizontal offset // linearly spaced horizontal offset
mjtNum horizontal = i*h/mjNCATENARY; mjtNum horizontal = i*h/ncatenary;
mju_addScl3(catenary+3*i, x0, across, horizontal); mju_addScl3(catenary+3*i, x0, across, horizontal);
// vertical offset, evaluate catenary values // vertical offset, evaluate catenary values
@@ -2938,9 +2945,9 @@ int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3]
} }
// end point // end point
mju_copy3(catenary+3*(mjNCATENARY-1), x1); mju_copy3(catenary+3*(ncatenary-1), x1);
return mjNCATENARY; return ncatenary;
} }
} }
src/engine/engine_vis_visualize.h
+1 -3
View File
@@ -62,10 +62,8 @@ MJAPI void mjv_updateSkin(const mjModel* m, const mjData* d, mjvScene* scn);
// update visible skins only // update visible skins only
MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt); MJAPI void mjv_updateActiveSkin(const mjModel* m, const mjData* d, mjvScene* scn, const mjvOption* opt);
#define mjNCATENARY 31
int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length, int mjv_catenary(const mjtNum x0[3], const mjtNum x1[3], const mjtNum gravity[3], mjtNum length,
mjtNum catenary[3*mjNCATENARY]); mjtNum* catenary, int ncatenary);
#ifdef __cplusplus #ifdef __cplusplus
} }