Replace mjv_sceneState and related code with mjv_copy{Model,Data}

PiperOrigin-RevId: 760662776 Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:50:49 -07:00
parent 8268c6d1ff
commit ced630181d
17 changed files with 357 additions and 3793 deletions
@@ -406,292 +406,4 @@ struct mjvFigure_ {               // abstract 2D figure passed to OpenGL rendere
 };
 typedef struct mjvFigure_ mjvFigure;

-
-//---------------------------------- mjvSceneState -------------------------------------------------
-
-struct mjvSceneState_ {
-  int nbuffer;                     // size of the buffer in bytes
-  void* buffer;                    // heap-allocated memory for all arrays in this struct
-  int maxgeom;                     // maximum number of mjvGeom supported by this state object
-  mjvScene scratch;                // scratch space for vis geoms inserted by the user and plugins
-
-  // fields in mjModel that are necessary to re-render a scene
-  struct {
-    int nv;
-    int nu;
-    int na;
-    int nbody;
-    int nbvh;
-    int nbvhstatic;
-    int njnt;
-    int ngeom;
-    int nsite;
-    int ncam;
-    int nlight;
-    int nmesh;
-    int nskin;
-    int nflex;
-    int nflexvert;
-    int nflextexcoord;
-    int nskinvert;
-    int nskinface;
-    int nskinbone;
-    int nskinbonevert;
-    int nmat;
-    int neq;
-    int ntendon;
-    int ntree;
-    int nwrap;
-    int nsensor;
-    int nnames;
-    int npaths;
-    int nsensordata;
-    int narena;
-
-    mjOption opt;
-    mjVisual vis;
-    mjStatistic stat;
-
-    int* body_parentid;
-    int* body_rootid;
-    int* body_weldid;
-    int* body_mocapid;
-    int* body_jntnum;
-    int* body_jntadr;
-    int* body_dofnum;
-    int* body_dofadr;
-    int* body_geomnum;
-    int* body_geomadr;
-    mjtNum* body_iquat;
-    mjtNum* body_mass;
-    mjtNum* body_inertia;
-    int* body_bvhadr;
-    int* body_bvhnum;
-
-    int* bvh_depth;
-    int* bvh_child;
-    int* bvh_nodeid;
-    mjtNum* bvh_aabb;
-
-    int* jnt_type;
-    int* jnt_bodyid;
-    int* jnt_group;
-
-    int* geom_type;
-    int* geom_bodyid;
-    int* geom_contype;
-    int* geom_conaffinity;
-    int* geom_dataid;
-    int* geom_matid;
-    int* geom_group;
-    mjtNum* geom_size;
-    mjtNum* geom_aabb;
-    mjtNum* geom_rbound;
-    float* geom_rgba;
-
-    int* site_type;
-    int* site_bodyid;
-    int* site_matid;
-    int* site_group;
-    mjtNum* site_size;
-    float* site_rgba;
-
-    int* cam_orthographic;
-    mjtNum* cam_fovy;
-    mjtNum* cam_ipd;
-    int* cam_resolution;
-    float* cam_sensorsize;
-    float* cam_intrinsic;
-
-    mjtByte* light_directional;
-    mjtByte* light_castshadow;
-    float* light_bulbradius;
-    float* light_intensity;
-    float* light_range;
-    mjtByte* light_active;
-    float* light_attenuation;
-    float* light_cutoff;
-    float* light_exponent;
-    float* light_ambient;
-    float* light_diffuse;
-    float* light_specular;
-
-    mjtByte* flex_flatskin;
-    int* flex_dim;
-    int* flex_matid;
-    int* flex_group;
-    int* flex_interp;
-    int* flex_nodeadr;
-    int* flex_nodenum;
-    int* flex_nodebodyid;
-    int* flex_vertadr;
-    int* flex_vertnum;
-    int* flex_elem;
-    int* flex_elemtexcoord;
-    int* flex_elemlayer;
-    int* flex_elemadr;
-    int* flex_elemnum;
-    int* flex_elemdataadr;
-    int* flex_shell;
-    int* flex_shellnum;
-    int* flex_shelldataadr;
-    int* flex_texcoordadr;
-    int* flex_bvhadr;
-    int* flex_bvhnum;
-    mjtByte* flex_centered;
-    mjtNum* flex_node;
-    mjtNum* flex_radius;
-    float* flex_rgba;
-    float* flex_texcoord;
-
-    int* hfield_pathadr;
-
-    int* mesh_bvhadr;
-    int* mesh_bvhnum;
-    int* mesh_texcoordadr;
-    int* mesh_graphadr;
-    int* mesh_pathadr;
-
-    int* skin_matid;
-    int* skin_group;
-    float* skin_rgba;
-    float* skin_inflate;
-    int* skin_vertadr;
-    int* skin_vertnum;
-    int* skin_texcoordadr;
-    int* skin_faceadr;
-    int* skin_facenum;
-    int* skin_boneadr;
-    int* skin_bonenum;
-    float* skin_vert;
-    int* skin_face;
-    int* skin_bonevertadr;
-    int* skin_bonevertnum;
-    float* skin_bonebindpos;
-    float* skin_bonebindquat;
-    int* skin_bonebodyid;
-    int* skin_bonevertid;
-    float* skin_bonevertweight;
-    int* skin_pathadr;
-
-    int* tex_pathadr;
-
-    int* mat_texid;
-    mjtByte* mat_texuniform;
-    float* mat_texrepeat;
-    float* mat_emission;
-    float* mat_specular;
-    float* mat_shininess;
-    float* mat_reflectance;
-    float* mat_metallic;
-    float* mat_roughness;
-    float* mat_rgba;
-
-    int* eq_type;
-    int* eq_obj1id;
-    int* eq_obj2id;
-    int* eq_objtype;
-    mjtNum* eq_data;
-
-    int* tendon_num;
-    int* tendon_matid;
-    int* tendon_group;
-    mjtByte* tendon_limited;
-    mjtByte* tendon_actfrclimited;
-    mjtNum* tendon_width;
-    mjtNum* tendon_range;
-    mjtNum* tendon_actfrcrange;
-    mjtNum* tendon_stiffness;
-    mjtNum* tendon_damping;
-    mjtNum* tendon_frictionloss;
-    mjtNum* tendon_lengthspring;
-    float* tendon_rgba;
-
-    int* actuator_trntype;
-    int* actuator_dyntype;
-    int* actuator_trnid;
-    int* actuator_actadr;
-    int* actuator_actnum;
-    int* actuator_group;
-    mjtByte* actuator_ctrllimited;
-    mjtByte* actuator_actlimited;
-    mjtNum* actuator_ctrlrange;
-    mjtNum* actuator_actrange;
-    mjtNum* actuator_cranklength;
-
-    int* sensor_type;
-    int* sensor_objid;
-    int* sensor_adr;
-
-    int* name_bodyadr;
-    int* name_jntadr;
-    int* name_geomadr;
-    int* name_siteadr;
-    int* name_camadr;
-    int* name_lightadr;
-    int* name_eqadr;
-    int* name_tendonadr;
-    int* name_actuatoradr;
-    char* names;
-    char* paths;
-  } model;
-
-  // fields in mjData that are necessary to re-render a scene
-  struct {
-    mjWarningStat warning[mjNWARNING];
-
-    int nefc;
-    int ncon;
-    int nisland;
-
-    mjtNum time;
-
-    mjtNum* act;
-
-    mjtNum* ctrl;
-    mjtNum* xfrc_applied;
-    mjtByte* eq_active;
-
-    mjtNum* sensordata;
-
-    mjtNum* xpos;
-    mjtNum* xquat;
-    mjtNum* xmat;
-    mjtNum* xipos;
-    mjtNum* ximat;
-    mjtNum* xanchor;
-    mjtNum* xaxis;
-    mjtNum* geom_xpos;
-    mjtNum* geom_xmat;
-    mjtNum* site_xpos;
-    mjtNum* site_xmat;
-    mjtNum* cam_xpos;
-    mjtNum* cam_xmat;
-    mjtNum* light_xpos;
-    mjtNum* light_xdir;
-
-    mjtNum* subtree_com;
-
-    int* ten_wrapadr;
-    int* ten_wrapnum;
-    int* wrap_obj;
-    mjtNum* ten_length;
-    mjtNum* wrap_xpos;
-
-    mjtNum* bvh_aabb_dyn;
-    mjtByte* bvh_active;
-    int* island_dofadr;
-    int* dof_island;
-    int* efc_island;
-    int* tendon_efcadr;
-
-    mjtNum* flexvert_xpos;
-
-    mjContact* contact;
-    mjtNum* efc_force;
-    void* arena;
-  } data;
-};
-typedef struct mjvSceneState_ mjvSceneState;
-
 #endif  // MUJOCO_MJVISUALIZE_H_