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Add mjStatistic to mjmModel.

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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
This commit is contained in:
Alessio Quaglino
2024-02-16 05:16:47 -08:00
committed by Copybara-Service
parent f1d4f8f0a1
commit d7c47de353
6 changed files with 55 additions and 52 deletions
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src/user/user_model.cc
+19 -18
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@@ -83,6 +83,7 @@ static void copyvec(T1* dest, T2* src, int n) {
// constructor
mjCModel::mjCModel() {
mjm_defaultModel(spec);
comment.clear();
modelfiledir.clear();
@@ -110,14 +111,6 @@ mjCModel::mjCModel() {
exactmeshinertia = false;
mj_defaultLROpt(&LRopt);
//------------------------ statistics override
meaninertia = mjNAN;
meanmass = mjNAN;
meansize = mjNAN;
extent = mjNAN;
center[0] = mjNAN;
center[1] = center[2] = 0;
//------------------------ auto-computed statistics
#ifndef MEMORY_SANITIZER
// initializing as best practice, but want MSAN to catch unintialized use
@@ -223,6 +216,12 @@ mjCModel::mjCModel() {
void mjCModel::CopyFromSpec() {
*static_cast<mjmModel*>(this) = spec;
}
// destructor
mjCModel::~mjCModel() {
// delete kinematic tree and all objects allocated in it
@@ -2748,6 +2747,8 @@ static void warninghandler(const char* msg) {
// compiler
mjModel* mjCModel::Compile(const mjVFS* vfs) {
CopyFromSpec();
// The volatile keyword is necessary to prevent a possible memory leak due to
// an interaction between longjmp and compiler optimization. Specifically, at
// the point where the setjmp takes places, these pointers have never been
@@ -3208,11 +3209,11 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
copyvec(center_auto, m->stat.center, 3);
// override model statistics if defined by user
if (mjuu_defined(extent)) m->stat.extent = (mjtNum)extent;
if (mjuu_defined(meaninertia)) m->stat.meaninertia = (mjtNum)meaninertia;
if (mjuu_defined(meanmass)) m->stat.meanmass = (mjtNum)meanmass;
if (mjuu_defined(meansize)) m->stat.meansize = (mjtNum)meansize;
if (mjuu_defined(center[0])) copyvec(m->stat.center, center, 3);
if (mjuu_defined(stat.extent)) m->stat.extent = (mjtNum)stat.extent;
if (mjuu_defined(stat.meaninertia)) m->stat.meaninertia = (mjtNum)stat.meaninertia;
if (mjuu_defined(stat.meanmass)) m->stat.meanmass = (mjtNum)stat.meanmass;
if (mjuu_defined(stat.meansize)) m->stat.meansize = (mjtNum)stat.meansize;
if (mjuu_defined(stat.center[0])) copyvec(m->stat.center, stat.center, 3);
// assert that model has valid references
const char* validationerr = mj_validateReferences(m);
@@ -3284,14 +3285,14 @@ bool mjCModel::CopyBack(const mjModel* m) {
visual = m->vis;
// runtime-modifiable members of mjStatistic, if different from computed values
if (m->stat.meaninertia != meaninertia_auto) meaninertia = m->stat.meaninertia;
if (m->stat.meanmass != meanmass_auto) meanmass = m->stat.meanmass;
if (m->stat.meansize != meansize_auto) meansize = m->stat.meansize;
if (m->stat.extent != extent_auto) extent = m->stat.extent;
if (m->stat.meaninertia != meaninertia_auto) stat.meaninertia = m->stat.meaninertia;
if (m->stat.meanmass != meanmass_auto) stat.meanmass = m->stat.meanmass;
if (m->stat.meansize != meansize_auto) stat.meansize = m->stat.meansize;
if (m->stat.extent != extent_auto) stat.extent = m->stat.extent;
if (m->stat.center[0] != center_auto[0] ||
m->stat.center[1] != center_auto[1] ||
m->stat.center[2] != center_auto[2]) {
mju_copy3(center, m->stat.center);
mju_copy3(stat.center, m->stat.center);
}
// qpos0, qpos_spring