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

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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
This commit is contained in:
Yuval Tassa
2025-05-19 09:50:49 -07:00
committed by Copybara-Service
parent 8268c6d1ff
commit ced630181d
17 changed files with 357 additions and 3793 deletions
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simulate/simulate.cc
+61 -70
View File
@@ -689,7 +689,7 @@ void UpdateWatch(mj::Simulate* sim, const mjModel* m, const mjData* d) {
// make physics section of UI
void MakePhysicsSection(mj::Simulate* sim) {
mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
mjuiDef defPhysics[] = {
{mjITEM_SECTION, "Physics", mjPRESERVE, nullptr, "AP"},
{mjITEM_SELECT, "Integrator", 2, &(opt->integrator), "Euler\nRK4\nimplicit\nimplicitfast"},
@@ -873,8 +873,8 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m) {
// make visualization section of UI
void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m) {
mjStatistic* stat = sim->is_passive_ ? &sim->scnstate_.model.stat : &sim->m_->stat;
mjVisual* vis = sim->is_passive_ ? &sim->scnstate_.model.vis : &sim->m_->vis;
mjStatistic* stat = sim->is_passive_ ? &sim->m_passive_->stat : &sim->m_->stat;
mjVisual* vis = sim->is_passive_ ? &sim->m_passive_->vis : &sim->m_->vis;
mjuiDef defVisualization[] = {
{mjITEM_SECTION, "Visualization", mjPRESERVE, nullptr, "AV"},
@@ -1503,7 +1503,7 @@ void UiEvent(mjuiState* state) {
// physics section
else if (it && it->sectionid==SECT_PHYSICS && sim->m_) {
mjOption* opt = sim->is_passive_ ? &sim->scnstate_.model.opt : &sim->m_->opt;
mjOption* opt = sim->is_passive_ ? &sim->m_passive_->opt : &sim->m_->opt;
// update disable flags in mjOption
opt->disableflags = 0;
@@ -1765,15 +1765,14 @@ void UiEvent(mjuiState* state) {
return;
}
// local pointers used below
mjModel* model = sim->is_passive_ ? sim->m_passive_ : sim->m_;
mjData* data = sim->is_passive_ ? sim->d_passive_ : sim->d_;
// 3D scroll
if (state->type==mjEVENT_SCROLL && state->mouserect==3) {
if (state->type==mjEVENT_SCROLL && state->mouserect==3 && model) {
// emulate vertical mouse motion = 2% of window height
if (sim->m_ && !sim->is_passive_) {
mjv_moveCamera(sim->m_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
} else {
mjv_moveCameraFromState(
&sim->scnstate_, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
}
mjv_moveCamera(model, mjMOUSE_ZOOM, 0, -zoom_increment*state->sy, &sim->scn, &sim->cam);
return;
}
@@ -1829,25 +1828,11 @@ void UiEvent(mjuiState* state) {
// move perturb or camera
mjrRect r = state->rect[3];
if (sim->pert.active) {
if (!sim->is_passive_) {
mjv_movePerturb(
sim->m_, sim->d_, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->pert);
} else {
mjv_movePerturbFromState(
&sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->pert);
}
mjv_movePerturb(model, data, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->pert);
} else {
if (!sim->is_passive_) {
mjv_moveCamera(
sim->m_, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->cam);
} else {
mjv_moveCameraFromState(
&sim->scnstate_, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->cam);
}
mjv_moveCamera(model, action, state->dx / r.height, -state->dy / r.height,
&sim->scn, &sim->cam);
}
return;
}
@@ -1881,10 +1866,11 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
platform_ui(std::move(platform_ui)),
uistate(this->platform_ui->state()) {
mjv_defaultScene(&scn);
mjv_defaultSceneState(&scnstate_);
}
// synchronize model and data
//------------------------- Synchronize render and physics threads ---------------------------------
// operations which require holding the mutex, prevents racing with physics thread
void Simulate::Sync() {
MutexLock lock(this->mtx);
@@ -1947,10 +1933,10 @@ void Simulate::Sync() {
if (is_passive_) {
// synchronize m_->opt with changes made via the UI
#define X(name) \
if (IsDifferent(scnstate_.model.opt.name, mjopt_prev_.name)) { \
pending_.ui_update_physics = true; \
Copy(m_->opt.name, scnstate_.model.opt.name); \
#define X(name) \
if (IsDifferent(m_passive_->opt.name, mjopt_prev_.name)) { \
pending_.ui_update_physics = true; \
Copy(m_->opt.name, m_passive_->opt.name); \
}
X(timestep);
@@ -1984,9 +1970,9 @@ void Simulate::Sync() {
#undef X
// synchronize number of mjWARN_VGEOMFULL warnings
if (scnstate_.data.warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
if (d_passive_->warning[mjWARN_VGEOMFULL].number > warn_vgeomfull_prev_) {
d_->warning[mjWARN_VGEOMFULL].number +=
scnstate_.data.warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
d_passive_->warning[mjWARN_VGEOMFULL].number - warn_vgeomfull_prev_;
}
}
@@ -2135,25 +2121,19 @@ void Simulate::Sync() {
pending_.select = false;
}
// update scene
// update scene or sync data from user in passive mode
if (!is_passive_) {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
mjv_copyModel(m_passive_, m_);
mjv_copyData(d_passive_, m_passive_, d_);
// append geoms from user_scn to scnstate_ scratch space
// append geoms from user_scn to scratch space
if (user_scn) {
int ngeom = user_scn->ngeom;
int maxgeom = scnstate_.scratch.maxgeom - scnstate_.scratch.ngeom;
if (ngeom > maxgeom) {
mj_warning(d_, mjWARN_VGEOMFULL, scnstate_.scratch.maxgeom);
ngeom = maxgeom;
}
if (ngeom > 0) {
std::memcpy(scnstate_.scratch.geoms + scnstate_.scratch.ngeom,
user_scn->geoms,
sizeof(mjvGeom) * ngeom);
scnstate_.scratch.ngeom += ngeom;
user_scn_geoms_.clear();
user_scn_geoms_.reserve(user_scn->ngeom);
for (int i = 0; i < user_scn->ngeom; ++i) {
user_scn_geoms_.push_back(user_scn->geoms[i]);
}
}
@@ -2169,8 +2149,8 @@ void Simulate::Sync() {
Copy(user_scn_flags_prev_, user_scn->flags);
}
mjopt_prev_ = scnstate_.model.opt;
warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
mjopt_prev_ = m_passive_->opt;
warn_vgeomfull_prev_ = d_passive_->warning[mjWARN_VGEOMFULL].number;
}
// update settings
@@ -2329,15 +2309,8 @@ void Simulate::LoadOnRenderThread() {
}
}
// re-create scene and context
// re-create scene
mjv_makeScene(this->m_, &this->scn, kMaxGeom);
if (this->is_passive_) {
mjopt_prev_ = m_->opt;
opt_prev_ = opt;
cam_prev_ = cam;
warn_vgeomfull_prev_ = d_->warning[mjWARN_VGEOMFULL].number;
mjv_makeSceneState(this->m_, this->d_, &this->scnstate_, kMaxGeom);
}
this->platform_ui->RefreshMjrContext(this->m_, 50*(this->font+1));
UiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
@@ -2366,12 +2339,18 @@ void Simulate::LoadOnRenderThread() {
mju::strcpy_arr(this->previous_filename, this->filename);
}
// update scene
// update scene in managed mode, in passive mode copy data from user (update in RenderLoop)
if (!is_passive_) {
mjv_updateScene(this->m_, this->d_,
&this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
mjv_updateScene(this->m_, this->d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(this->m_, this->d_, &this->opt, &this->scnstate_);
mjopt_prev_ = m_->opt;
opt_prev_ = opt;
cam_prev_ = cam;
warn_vgeomfull_prev_ = d_->warning[mjWARN_VGEOMFULL].number;
// full copy on init
m_passive_ = mj_copyModel(nullptr, m_);
d_passive_ = mj_copyData(nullptr, m_passive_, d_);
}
// set window title to model name
@@ -2793,11 +2772,22 @@ void Simulate::RenderLoop() {
}
// update scene, doing a full sync if in fully managed mode
if (!this->is_passive_) {
if (!is_passive_) {
Sync();
} else {
scnstate_.data.warning[mjWARN_VGEOMFULL].number += mjv_updateSceneFromState(
&scnstate_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else if (m_passive_ && d_passive_) {
// the user has called Sync() in their code
mjv_updateScene(m_passive_, d_passive_,
&this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
// add user geoms to scene
int nusergeom = user_scn_geoms_.size();
int ngeom = std::min(nusergeom, this->scn.maxgeom - this->scn.ngeom);
if (ngeom < nusergeom) {
mj_warning(d_passive_, mjWARN_VGEOMFULL, this->scn.maxgeom);
}
std::memcpy(this->scn.geoms + this->scn.ngeom, user_scn_geoms_.data(),
ngeom * sizeof(mjvGeom));
this->scn.ngeom += ngeom;
}
} // MutexLock (unblocks simulation thread)
@@ -2818,7 +2808,8 @@ void Simulate::RenderLoop() {
const MutexLock lock(this->mtx);
mjv_freeScene(&this->scn);
if (is_passive_) {
mjv_freeSceneState(&scnstate_);
mj_deleteData(d_passive_);
mj_deleteModel(m_passive_);
}
this->exitrequest.store(2);
simulate/simulate.h
+6 -1
View File
@@ -130,7 +130,12 @@ class Simulate {
std::vector<mjtNum> ctrl_;
std::vector<mjtNum> ctrl_prev_;
mjvSceneState scnstate_;
// in passive mode the user owns m_ and d_, these "passive" instances are
// owned by Simulate, updated from the user by the Sync() method
mjModel* m_passive_;
mjData* d_passive_;
std::vector<mjvGeom> user_scn_geoms_;
mjOption mjopt_prev_;
mjvOption opt_prev_;
mjvCamera cam_prev_;