Replace mjv_sceneState and related code with mjv_copy{Model,Data}
PiperOrigin-RevId: 760662776 Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
8268c6d1ff
commit
ced630181d
@@ -987,17 +987,6 @@ This structure contains everything needed to render the 3D scene in OpenGL.
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.. mujoco-include:: mjvScene
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.. _mjvSceneState:
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mjvSceneState
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~~~~~~~~~~~~~
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This structure contains the portions of :ref:`mjModel` and :ref:`mjData` that are required for
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various ``mjv_*`` functions.
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.. mujoco-include:: mjvSceneState
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.. _mjvFigure:
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mjvFigure
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@@ -2004,15 +2004,6 @@ Rotate 3D vec in horizontal plane by angle between (0,1) and (forward_x,forward_
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Move camera with mouse; action is mjtMouse.
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.. _mjv_moveCameraFromState:
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`mjv_moveCameraFromState <#mjv_moveCameraFromState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_moveCameraFromState
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Move camera with mouse given a scene state; action is mjtMouse.
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.. _mjv_movePerturb:
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`mjv_movePerturb <#mjv_movePerturb>`__
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@@ -2022,15 +2013,6 @@ Move camera with mouse given a scene state; action is mjtMouse.
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Move perturb object with mouse; action is mjtMouse.
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.. _mjv_movePerturbFromState:
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`mjv_movePerturbFromState <#mjv_movePerturbFromState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_movePerturbFromState
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Move perturb object with mouse given a scene state; action is mjtMouse.
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.. _mjv_moveModel:
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`mjv_moveModel <#mjv_moveModel>`__
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@@ -2173,15 +2155,6 @@ Free abstract scene.
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Update entire scene given model state.
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.. _mjv_updateSceneFromState:
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`mjv_updateSceneFromState <#mjv_updateSceneFromState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_updateSceneFromState
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Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.
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.. _mjv_copyModel:
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`mjv_copyModel <#mjv_copyModel>`__
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@@ -2191,42 +2164,6 @@ Update entire scene from a scene state, return the number of new mjWARN_VGEOMFUL
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Copy mjModel, skip large arrays not required for abstract visualization.
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.. _mjv_defaultSceneState:
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`mjv_defaultSceneState <#mjv_defaultSceneState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_defaultSceneState
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Set default scene state.
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.. _mjv_makeSceneState:
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`mjv_makeSceneState <#mjv_makeSceneState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_makeSceneState
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Allocate resources and initialize a scene state object.
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.. _mjv_freeSceneState:
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`mjv_freeSceneState <#mjv_freeSceneState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_freeSceneState
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Free scene state.
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.. _mjv_updateSceneState:
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`mjv_updateSceneState <#mjv_updateSceneState>`__
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. mujoco-include:: mjv_updateSceneState
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Update a scene state from model and data.
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.. _mjv_addGeoms:
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`mjv_addGeoms <#mjv_addGeoms>`__
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@@ -10,6 +10,12 @@ General
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- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
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solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
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simulate
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^^^^^^^^
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- The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
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``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
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and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
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Version 3.3.2 (April 28, 2025)
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------------------------------
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@@ -2965,290 +2965,6 @@ struct mjvFigure_ { // abstract 2D figure passed to OpenGL rendere
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float yaxisdata[2]; // range of y-axis in data units
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};
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typedef struct mjvFigure_ mjvFigure;
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struct mjvSceneState_ {
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int nbuffer; // size of the buffer in bytes
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void* buffer; // heap-allocated memory for all arrays in this struct
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int maxgeom; // maximum number of mjvGeom supported by this state object
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mjvScene scratch; // scratch space for vis geoms inserted by the user and plugins
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// fields in mjModel that are necessary to re-render a scene
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struct {
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int nv;
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int nu;
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int na;
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int nbody;
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int nbvh;
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int nbvhstatic;
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int njnt;
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int ngeom;
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int nsite;
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int ncam;
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int nlight;
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int nmesh;
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int nskin;
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int nflex;
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int nflexvert;
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int nflextexcoord;
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int nskinvert;
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int nskinface;
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int nskinbone;
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int nskinbonevert;
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int nmat;
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int neq;
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int ntendon;
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int ntree;
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int nwrap;
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int nsensor;
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int nnames;
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int npaths;
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int nsensordata;
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int narena;
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mjOption opt;
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mjVisual vis;
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mjStatistic stat;
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int* body_parentid;
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int* body_rootid;
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int* body_weldid;
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int* body_mocapid;
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int* body_jntnum;
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int* body_jntadr;
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int* body_dofnum;
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int* body_dofadr;
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int* body_geomnum;
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int* body_geomadr;
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mjtNum* body_iquat;
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mjtNum* body_mass;
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mjtNum* body_inertia;
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int* body_bvhadr;
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int* body_bvhnum;
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int* bvh_depth;
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int* bvh_child;
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int* bvh_nodeid;
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mjtNum* bvh_aabb;
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int* jnt_type;
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int* jnt_bodyid;
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int* jnt_group;
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int* geom_type;
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int* geom_bodyid;
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int* geom_contype;
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int* geom_conaffinity;
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int* geom_dataid;
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int* geom_matid;
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int* geom_group;
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mjtNum* geom_size;
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mjtNum* geom_aabb;
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mjtNum* geom_rbound;
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float* geom_rgba;
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int* site_type;
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int* site_bodyid;
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int* site_matid;
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int* site_group;
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mjtNum* site_size;
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float* site_rgba;
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int* cam_orthographic;
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mjtNum* cam_fovy;
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mjtNum* cam_ipd;
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int* cam_resolution;
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float* cam_sensorsize;
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float* cam_intrinsic;
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mjtByte* light_directional;
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mjtByte* light_castshadow;
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float* light_bulbradius;
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float* light_intensity;
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float* light_range;
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mjtByte* light_active;
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float* light_attenuation;
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float* light_cutoff;
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float* light_exponent;
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float* light_ambient;
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float* light_diffuse;
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float* light_specular;
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mjtByte* flex_flatskin;
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int* flex_dim;
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int* flex_matid;
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int* flex_group;
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int* flex_interp;
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int* flex_nodeadr;
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int* flex_nodenum;
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int* flex_nodebodyid;
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int* flex_vertadr;
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int* flex_vertnum;
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int* flex_elem;
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int* flex_elemtexcoord;
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int* flex_elemlayer;
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int* flex_elemadr;
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int* flex_elemnum;
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int* flex_elemdataadr;
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int* flex_shell;
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int* flex_shellnum;
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int* flex_shelldataadr;
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int* flex_texcoordadr;
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int* flex_bvhadr;
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int* flex_bvhnum;
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mjtByte* flex_centered;
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mjtNum* flex_node;
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mjtNum* flex_radius;
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float* flex_rgba;
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float* flex_texcoord;
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int* hfield_pathadr;
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int* mesh_bvhadr;
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int* mesh_bvhnum;
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int* mesh_texcoordadr;
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int* mesh_graphadr;
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int* mesh_pathadr;
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int* skin_matid;
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int* skin_group;
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float* skin_rgba;
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float* skin_inflate;
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int* skin_vertadr;
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int* skin_vertnum;
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int* skin_texcoordadr;
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int* skin_faceadr;
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int* skin_facenum;
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int* skin_boneadr;
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int* skin_bonenum;
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float* skin_vert;
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int* skin_face;
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int* skin_bonevertadr;
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int* skin_bonevertnum;
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float* skin_bonebindpos;
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float* skin_bonebindquat;
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int* skin_bonebodyid;
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int* skin_bonevertid;
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float* skin_bonevertweight;
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int* skin_pathadr;
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int* tex_pathadr;
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int* mat_texid;
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mjtByte* mat_texuniform;
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float* mat_texrepeat;
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float* mat_emission;
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float* mat_specular;
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float* mat_shininess;
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float* mat_reflectance;
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float* mat_metallic;
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float* mat_roughness;
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float* mat_rgba;
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int* eq_type;
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int* eq_obj1id;
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int* eq_obj2id;
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int* eq_objtype;
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mjtNum* eq_data;
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int* tendon_num;
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int* tendon_matid;
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int* tendon_group;
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mjtByte* tendon_limited;
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mjtByte* tendon_actfrclimited;
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mjtNum* tendon_width;
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mjtNum* tendon_range;
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mjtNum* tendon_actfrcrange;
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mjtNum* tendon_stiffness;
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mjtNum* tendon_damping;
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mjtNum* tendon_frictionloss;
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mjtNum* tendon_lengthspring;
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float* tendon_rgba;
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int* actuator_trntype;
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int* actuator_dyntype;
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int* actuator_trnid;
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int* actuator_actadr;
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int* actuator_actnum;
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int* actuator_group;
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mjtByte* actuator_ctrllimited;
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mjtByte* actuator_actlimited;
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mjtNum* actuator_ctrlrange;
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mjtNum* actuator_actrange;
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mjtNum* actuator_cranklength;
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int* sensor_type;
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int* sensor_objid;
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int* sensor_adr;
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int* name_bodyadr;
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int* name_jntadr;
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int* name_geomadr;
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int* name_siteadr;
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int* name_camadr;
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int* name_lightadr;
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int* name_eqadr;
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int* name_tendonadr;
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int* name_actuatoradr;
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char* names;
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char* paths;
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} model;
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// fields in mjData that are necessary to re-render a scene
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struct {
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mjWarningStat warning[mjNWARNING];
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int nefc;
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int ncon;
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int nisland;
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mjtNum time;
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mjtNum* act;
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mjtNum* ctrl;
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mjtNum* xfrc_applied;
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mjtByte* eq_active;
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mjtNum* sensordata;
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mjtNum* xpos;
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mjtNum* xquat;
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mjtNum* xmat;
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mjtNum* xipos;
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mjtNum* ximat;
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mjtNum* xanchor;
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mjtNum* xaxis;
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mjtNum* geom_xpos;
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mjtNum* geom_xmat;
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mjtNum* site_xpos;
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mjtNum* site_xmat;
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mjtNum* cam_xpos;
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mjtNum* cam_xmat;
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mjtNum* light_xpos;
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mjtNum* light_xdir;
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mjtNum* subtree_com;
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int* ten_wrapadr;
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int* ten_wrapnum;
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int* wrap_obj;
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mjtNum* ten_length;
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mjtNum* wrap_xpos;
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mjtNum* bvh_aabb_dyn;
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mjtByte* bvh_active;
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int* island_dofadr;
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int* dof_island;
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int* efc_island;
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int* tendon_efcadr;
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mjtNum* flexvert_xpos;
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mjContact* contact;
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mjtNum* efc_force;
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void* arena;
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} data;
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};
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typedef struct mjvSceneState_ mjvSceneState;
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//----------------------------- MJAPI FUNCTIONS --------------------------------
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void mj_defaultVFS(mjVFS* vfs);
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@@ -3437,14 +3153,8 @@ mjtNum mjv_frustumHeight(const mjvScene* scn);
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void mjv_alignToCamera(mjtNum res[3], const mjtNum vec[3], const mjtNum forward[3]);
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void mjv_moveCamera(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvCamera* cam);
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void mjv_moveCameraFromState(const mjvSceneState* scnstate, int action,
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mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvCamera* cam);
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void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx,
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mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
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void mjv_movePerturbFromState(const mjvSceneState* scnstate, int action,
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mjtNum reldx, mjtNum reldy,
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const mjvScene* scn, mjvPerturb* pert);
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void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
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const mjtNum roomup[3], mjvScene* scn);
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void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
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@@ -3467,16 +3177,7 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom);
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void mjv_freeScene(mjvScene* scn);
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void mjv_updateScene(const mjModel* m, mjData* d, const mjvOption* opt,
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const mjvPerturb* pert, mjvCamera* cam, int catmask, mjvScene* scn);
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int mjv_updateSceneFromState(const mjvSceneState* scnstate, const mjvOption* opt,
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const mjvPerturb* pert, mjvCamera* cam, int catmask,
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mjvScene* scn);
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void mjv_copyModel(mjModel* dest, const mjModel* src);
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void mjv_defaultSceneState(mjvSceneState* scnstate);
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void mjv_makeSceneState(const mjModel* m, const mjData* d,
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mjvSceneState* scnstate, int maxgeom);
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void mjv_freeSceneState(mjvSceneState* scnstate);
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void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
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mjvSceneState* scnstate);
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void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* opt,
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const mjvPerturb* pert, int catmask, mjvScene* scn);
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void mjv_makeLights(const mjModel* m, const mjData* d, mjvScene* scn);
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