Add mjStatistic to mjmModel.

PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5

src/user/user_api.h

@@ -73,6 +73,7 @@ typedef enum _mjtLimited {        // type of limit specification
 
 typedef struct _mjmModel {         // model specification
   mjElement element;               // internal, do not modify
+  mjStatistic stat;                // statistics override (if defined)
 } mjmModel;
 
 typedef struct _mjmOrientation {   // alternative orientation specifiers
@@ -825,6 +826,9 @@ MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inert
 
 //---------------------------------- Initialization functions --------------------------------------
 
+// Default model attributes.
+MJAPI void mjm_defaultModel(mjmModel& model);
+
 // Default body attributes.
 MJAPI void mjm_defaultBody(mjmBody& body);
 

src/user/user_init.cc

@@ -21,6 +21,20 @@
 
 
 
+// default model attributes
+void mjm_defaultModel(mjmModel& model) {
+  memset(&model, 0, sizeof(mjmModel));
+
+  // default statistics
+  model.stat.meaninertia = mjNAN;
+  model.stat.meanmass = mjNAN;
+  model.stat.meansize = mjNAN;
+  model.stat.extent = mjNAN;
+  model.stat.center[0] = mjNAN;
+}
+
+
+
 // default body attributes
 void mjm_defaultBody(mjmBody& body) {
   memset(&body, 0, sizeof(mjmBody));

src/user/user_model.cc

@@ -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(stat.extent)) m->stat.extent = (mjtNum)stat.extent;
-  if (mjuu_defined(meaninertia)) m->stat.meaninertia = (mjtNum)meaninertia;
+  if (mjuu_defined(stat.meaninertia)) m->stat.meaninertia = (mjtNum)stat.meaninertia;
-  if (mjuu_defined(meanmass)) m->stat.meanmass = (mjtNum)meanmass;
+  if (mjuu_defined(stat.meanmass)) m->stat.meanmass = (mjtNum)stat.meanmass;
-  if (mjuu_defined(meansize)) m->stat.meansize = (mjtNum)meansize;
+  if (mjuu_defined(stat.meansize)) m->stat.meansize = (mjtNum)stat.meansize;
-  if (mjuu_defined(center[0])) copyvec(m->stat.center, center, 3);
+  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.meaninertia != meaninertia_auto) stat.meaninertia = m->stat.meaninertia;
-  if (m->stat.meanmass != meanmass_auto) meanmass = m->stat.meanmass;
+  if (m->stat.meanmass != meanmass_auto) stat.meanmass = m->stat.meanmass;
-  if (m->stat.meansize != meansize_auto) meansize = m->stat.meansize;
+  if (m->stat.meansize != meansize_auto) stat.meansize = m->stat.meansize;
-  if (m->stat.extent != extent_auto) extent = m->stat.extent;
+  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

src/user/user_model.h

@@ -25,6 +25,7 @@
 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjplugin.h>
+#include "user/user_api.h"
 #include "user/user_objects.h"
 
 typedef enum _mjtInertiaFromGeom {
@@ -46,31 +47,19 @@ typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
 // constructed, 'Compile' can be called to generate the corresponding mjModel object
 // (which is the low-level model).  The mjCModel object can then be deleted.
 
-class mjCModel {
+class mjCModel : private mjmModel {
   friend class mjCBody;
-  friend class mjCJoint;
   friend class mjCGeom;
   friend class mjCFlex;
-  friend class mjCMesh;
-  friend class mjCSkin;
-  friend class mjCHField;
-  friend class mjCPair;
-  friend class mjCBodyPair;
-  friend class mjCSite;
   friend class mjCEquality;
   friend class mjCTendon;
-  friend class mjCWrap;
-  friend class mjCActuator;
-  friend class mjCSensor;
-  friend class mjCNumeric;
-  friend class mjCTuple;
-  friend class mjCKey;
   friend class mjXReader;
   friend class mjXWriter;
 
  public:
   mjCModel();                                          // constructor
   ~mjCModel();                                         // destructor
+  void CopyFromSpec();                                 // copy spec to private attributes
 
   mjmModel spec;
 
@@ -154,13 +143,6 @@ class mjCModel {
   bool exactmeshinertia;          // if false, use old formula
   mjLROpt LRopt;                  // options for lengthrange computation
 
-  //------------------------ statistics override (if defined)
-  double meaninertia;             // mean diagonal inertia
-  double meanmass;                // mean body mass
-  double meansize;                // mean body size
-  double extent;                  // spatial extent
-  double center[3];               // center of model
-
   //------------------------ engine data
   std::string modelname;          // model name
   mjOption option;                // options

src/xml/xml_native_reader.cc

@@ -1253,14 +1253,15 @@ void mjXReader::Statistic(XMLElement* section) {
   string text;
 
   // read statistics
-  ReadAttr(section, "meaninertia", 1, &model->meaninertia, text);
+  mjmModel* pmodel = &model->spec;
-  ReadAttr(section, "meanmass", 1, &model->meanmass, text);
+  ReadAttr(section, "meaninertia", 1, &pmodel->stat.meaninertia, text);
-  ReadAttr(section, "meansize", 1, &model->meansize, text);
+  ReadAttr(section, "meanmass", 1, &pmodel->stat.meanmass, text);
-  ReadAttr(section, "extent", 1, &model->extent, text);
+  ReadAttr(section, "meansize", 1, &pmodel->stat.meansize, text);
-  if (mjuu_defined(model->extent) && model->extent<=0) {
+  ReadAttr(section, "extent", 1, &pmodel->stat.extent, text);
+  if (mjuu_defined(pmodel->stat.extent) && pmodel->stat.extent<=0) {
     throw mjXError(section, "extent must be strictly positive");
   }
-  ReadAttr(section, "center", 3, model->center, text);
+  ReadAttr(section, "center", 3, pmodel->stat.center, text);
 }
 
 
@@ -2482,7 +2483,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjmDefault* def)
 
   // make composite
   char error[200];
-  bool res = comp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
+  bool res = comp.Make(model, pbody, error, 200);
 
   // throw error
   if (!res) {
@@ -2617,7 +2618,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
 
   // make flexcomp
   char error[200];
-  bool res = fcomp.Make((mjCModel*)mjm_getModel(pbody), pbody, error, 200);
+  bool res = fcomp.Make(model, pbody, error, 200);
 
   // throw error
   if (!res) {

src/xml/xml_native_writer.cc

@@ -975,12 +975,13 @@ void mjXWriter::Size(XMLElement* root) {
 // statistic section
 void mjXWriter::Statistic(XMLElement* root) {
   XMLElement* section = InsertEnd(root, "statistic");
+  mjStatistic* s = &model->stat;
 
-  if (mjuu_defined(model->meaninertia)) WriteAttr(section, "meaninertia", 1, &model->meaninertia);
+  if (mjuu_defined(s->meaninertia)) WriteAttr(section, "meaninertia", 1, &s->meaninertia);
-  if (mjuu_defined(model->meanmass)) WriteAttr(section, "meanmass", 1, &model->meanmass);
+  if (mjuu_defined(s->meanmass)) WriteAttr(section, "meanmass", 1, &s->meanmass);
-  if (mjuu_defined(model->meansize)) WriteAttr(section, "meansize", 1, &model->meansize);
+  if (mjuu_defined(s->meansize)) WriteAttr(section, "meansize", 1, &s->meansize);
-  if (mjuu_defined(model->extent)) WriteAttr(section, "extent", 1, &model->extent);
+  if (mjuu_defined(s->extent)) WriteAttr(section, "extent", 1, &s->extent);
-  if (mjuu_defined(model->center[0])) WriteAttr(section, "center", 3, model->center);
+  if (mjuu_defined(s->center[0])) WriteAttr(section, "center", 3, s->center);
 
   // remove entire section if no attributes
   if (!section->FirstAttribute()) root->DeleteChild(section);