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Break out struct initialization functions into engine_init.c.

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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
This commit is contained in:
Yuval Tassa
2025-09-25 19:21:44 -07:00
committed by Copybara-Service
parent fe8384b6c5
commit e51459f949
5 changed files with 289 additions and 217 deletions
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src/engine/CMakeLists.txt
+2
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@@ -44,6 +44,8 @@ set(MUJOCO_ENGINE_SRCS
engine_global_table.h
engine_inverse.c
engine_inverse.h
engine_init.c
engine_init.h
engine_island.c
engine_island.h
engine_io.c
src/engine/engine_core_util.c
-14
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@@ -943,18 +943,4 @@ void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
}
// set default solver parameters
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
if (solref) {
solref[0] = 0.02; // timeconst
solref[1] = 1; // dampratio
}
if (solimp) {
solimp[0] = 0.9; // dmin
solimp[1] = 0.95; // dmax
solimp[2] = 0.001; // width
solimp[3] = 0.5; // midpoint
solimp[4] = 2; // power
}
}
src/engine/engine_init.c
+250
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@@ -0,0 +1,250 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "engine/engine_init.h"
#include <string.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include "engine/engine_util_blas.h"
#ifdef _MSC_VER
#pragma warning (disable: 4305) // disable MSVC warning: truncation from 'double' to 'float'
#endif
//------------------------------- solver parameters ------------------------------------------------
// set default solver parameters
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
if (solref) {
solref[0] = 0.02; // timeconst
solref[1] = 1; // dampratio
}
if (solimp) {
solimp[0] = 0.9; // dmin
solimp[1] = 0.95; // dmax
solimp[2] = 0.001; // width
solimp[3] = 0.5; // midpoint
solimp[4] = 2; // power
}
}
//------------------------------- mjOption ---------------------------------------------------------
// set model options to default values
void mj_defaultOption(mjOption* opt) {
// fill opt with zeros in case struct is padded
memset(opt, 0, sizeof(mjOption));
// timing parameters
opt->timestep = 0.002;
opt->apirate = 100;
// solver parameters
opt->impratio = 1;
opt->tolerance = 1e-8;
opt->ls_tolerance = 0.01;
opt->noslip_tolerance = 1e-6;
opt->ccd_tolerance = 1e-6;
// physical constants
opt->gravity[0] = 0;
opt->gravity[1] = 0;
opt->gravity[2] = -9.81;
opt->wind[0] = 0;
opt->wind[1] = 0;
opt->wind[2] = 0;
opt->magnetic[0] = 0;
opt->magnetic[1] = -0.5;
opt->magnetic[2] = 0;
opt->density = 0;
opt->viscosity = 0;
// solver overrides
opt->o_margin = 0;
mj_defaultSolRefImp(opt->o_solref, opt->o_solimp);
opt->o_friction[0] = 1;
opt->o_friction[1] = 1;
opt->o_friction[2] = 0.005;
opt->o_friction[3] = 0.0001;
opt->o_friction[4] = 0.0001;
// discrete options
opt->integrator = mjINT_EULER;
opt->cone = mjCONE_PYRAMIDAL;
opt->jacobian = mjJAC_AUTO;
opt->solver = mjSOL_NEWTON;
opt->iterations = 100;
opt->ls_iterations = 50;
opt->noslip_iterations = 0;
opt->ccd_iterations = 35;
opt->disableflags = 0;
opt->enableflags = 0;
opt->disableactuator = 0;
// sdf collisions
opt->sdf_initpoints = 40;
opt->sdf_iterations = 10;
}
//------------------------------- mjStatistic ------------------------------------------------------
// set statistics to default values; compute later in compiler
void mj_defaultStatistic(mjStatistic* stat) {
mju_zero3(stat->center);
stat->extent = 2;
stat->meaninertia = 1;
stat->meanmass = 1;
stat->meansize = 0.2;
}
//------------------------------- mjVisual ---------------------------------------------------------
// set 4 floats
static void setf4(float* rgba, float r, float g, float b, float a) {
rgba[0] = r;
rgba[1] = g;
rgba[2] = b;
rgba[3] = a;
}
// set visual options to default values
void mj_defaultVisual(mjVisual* vis) {
// global
vis->global.cameraid = -1;
vis->global.orthographic = 0;
vis->global.fovy = 45;
vis->global.ipd = 0.068;
vis->global.azimuth = 90;
vis->global.elevation = -45;
vis->global.linewidth = 1.0;
vis->global.glow = 0.3;
vis->global.offwidth = 640;
vis->global.offheight = 480;
vis->global.realtime = 1.0;
vis->global.ellipsoidinertia = 0;
vis->global.bvactive = 1;
// rendering quality
vis->quality.shadowsize = 4096;
vis->quality.offsamples = 4;
vis->quality.numslices = 28;
vis->quality.numstacks = 16;
vis->quality.numquads = 4;
// head light
vis->headlight.ambient[0] = 0.1;
vis->headlight.ambient[1] = 0.1;
vis->headlight.ambient[2] = 0.1;
vis->headlight.diffuse[0] = 0.4;
vis->headlight.diffuse[1] = 0.4;
vis->headlight.diffuse[2] = 0.4;
vis->headlight.specular[0] = 0.5;
vis->headlight.specular[1] = 0.5;
vis->headlight.specular[2] = 0.5;
vis->headlight.active = 1;
// map parameters
vis->map.stiffness = 100;
vis->map.stiffnessrot = 500;
vis->map.force = 0.005;
vis->map.torque = 0.1;
vis->map.alpha = 0.3;
vis->map.fogstart = 3.0;
vis->map.fogend = 10.0;
vis->map.znear = 0.01;
vis->map.zfar = 50.0;
vis->map.haze = 0.3;
vis->map.shadowclip = 1.0;
vis->map.shadowscale = 0.6;
vis->map.actuatortendon = 2.0;
// size parameters
vis->scale.forcewidth = 0.1;
vis->scale.contactwidth = 0.3;
vis->scale.contactheight = 0.1;
vis->scale.connect = 0.2;
vis->scale.com = 0.4;
vis->scale.camera = 0.3;
vis->scale.light = 0.3;
vis->scale.selectpoint = 0.2;
vis->scale.jointlength = 1.0;
vis->scale.jointwidth = 0.1;
vis->scale.actuatorlength = 0.7;
vis->scale.actuatorwidth = 0.2;
vis->scale.framelength = 1.0;
vis->scale.framewidth = 0.1;
vis->scale.constraint = 0.1;
vis->scale.slidercrank = 0.2;
vis->scale.frustum = 10.0;
// colors
setf4(vis->rgba.fog, 0., 0., 0., 1.);
setf4(vis->rgba.haze, 1., 1., 1., 1.);
setf4(vis->rgba.force, 1., .5, .5, 1.);
setf4(vis->rgba.inertia, .8, .2, .2, .6);
setf4(vis->rgba.joint, .2, .6, .8, 1.);
setf4(vis->rgba.actuator, .2, .25, .2, 1);
setf4(vis->rgba.actuatornegative, .2, .6, .9, 1.);
setf4(vis->rgba.actuatorpositive, .9, .4, .2, 1.);
setf4(vis->rgba.com, .9, .9, .9, 1.);
setf4(vis->rgba.camera, .6, .9, .6, 1);
setf4(vis->rgba.light, .6, .6, .9, 1.);
setf4(vis->rgba.selectpoint, .9, .9, .1, 1.);
setf4(vis->rgba.connect, .2, .2, .8, 1.);
setf4(vis->rgba.contactpoint, .9, .6, .2, 1.);
setf4(vis->rgba.contactforce, .7, .9, .9, 1.);
setf4(vis->rgba.contactfriction, .9, .8, .4, 1.);
setf4(vis->rgba.contacttorque, .9, .7, .9, 1.);
setf4(vis->rgba.contactgap, .5, .8, .9, 1.);
setf4(vis->rgba.rangefinder, 1., 1., .1, 1.);
setf4(vis->rgba.constraint, .9, .0, .0, 1.);
setf4(vis->rgba.slidercrank, .5, .3, .8, 1.);
setf4(vis->rgba.crankbroken, .9, .0, .0, 1.);
setf4(vis->rgba.frustum, 1., 1., .0, .2);
setf4(vis->rgba.bv, 0., 1., .0, .5);
setf4(vis->rgba.bvactive, 1., 0., .0, .5);
}
//------------------------------ mjLROpt -----------------------------------------------------------
// set default options for length range computation
void mj_defaultLROpt(mjLROpt* opt) {
opt->mode = mjLRMODE_MUSCLE;
opt->useexisting = 1;
opt->uselimit = 0;
opt->accel = 20;
opt->maxforce = 0;
opt->timeconst = 1;
opt->timestep = 0.01;
opt->inttotal = 10;
opt->interval = 2;
opt->tolrange = 0.05;
}
src/engine/engine_init.h
+35
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@@ -0,0 +1,35 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
#define MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
#include <mujoco/mujoco.h>
// set default options for length range computation
void mj_defaultLROpt(mjLROpt* opt);
// set model options to default values
void mj_defaultOption(mjOption* opt);
// set visual options to default values
void mj_defaultVisual(mjVisual* vis);
// set statistics to default values
void mj_defaultStatistic(mjStatistic* stat);
// set solver parameters to default values
void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
#endif // MUJOCO_SRC_ENGINE_ENGINE_INIT_H_
src/engine/engine_io.c
+2 -203
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@@ -26,7 +26,7 @@
#include <mujoco/mjplugin.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep
#include <mujoco/mjxmacro.h>
#include "engine/engine_core_util.h"
#include "engine/engine_init.h"
#include "engine/engine_macro.h"
#include "engine/engine_memory.h"
#include "engine/engine_plugin.h"
@@ -50,208 +50,7 @@
static const int MAX_ARRAY_SIZE = INT_MAX / 4;
//------------------------------ mjLROpt -----------------------------------------------------------
// set default options for length range computation
void mj_defaultLROpt(mjLROpt* opt) {
opt->mode = mjLRMODE_MUSCLE;
opt->useexisting = 1;
opt->uselimit = 0;
opt->accel = 20;
opt->maxforce = 0;
opt->timeconst = 1;
opt->timestep = 0.01;
opt->inttotal = 10;
opt->interval = 2;
opt->tolrange = 0.05;
}
//------------------------------- mjOption ---------------------------------------------------------
// set model options to default values
void mj_defaultOption(mjOption* opt) {
// fill opt with zeros in case struct is padded
memset(opt, 0, sizeof(mjOption));
// timing parameters
opt->timestep = 0.002;
opt->apirate = 100;
// solver parameters
opt->impratio = 1;
opt->tolerance = 1e-8;
opt->ls_tolerance = 0.01;
opt->noslip_tolerance = 1e-6;
opt->ccd_tolerance = 1e-6;
// physical constants
opt->gravity[0] = 0;
opt->gravity[1] = 0;
opt->gravity[2] = -9.81;
opt->wind[0] = 0;
opt->wind[1] = 0;
opt->wind[2] = 0;
opt->magnetic[0] = 0;
opt->magnetic[1] = -0.5;
opt->magnetic[2] = 0;
opt->density = 0;
opt->viscosity = 0;
// solver overrides
opt->o_margin = 0;
mj_defaultSolRefImp(opt->o_solref, opt->o_solimp);
opt->o_friction[0] = 1;
opt->o_friction[1] = 1;
opt->o_friction[2] = 0.005;
opt->o_friction[3] = 0.0001;
opt->o_friction[4] = 0.0001;
// discrete options
opt->integrator = mjINT_EULER;
opt->cone = mjCONE_PYRAMIDAL;
opt->jacobian = mjJAC_AUTO;
opt->solver = mjSOL_NEWTON;
opt->iterations = 100;
opt->ls_iterations = 50;
opt->noslip_iterations = 0;
opt->ccd_iterations = 35;
opt->disableflags = 0;
opt->enableflags = 0;
opt->disableactuator = 0;
// sdf collisions
opt->sdf_initpoints = 40;
opt->sdf_iterations = 10;
}
//------------------------------- mjVisual ---------------------------------------------------------
// set 4 floats
static void setf4(float* rgba, float r, float g, float b, float a) {
rgba[0] = r;
rgba[1] = g;
rgba[2] = b;
rgba[3] = a;
}
// set visual options to default values
void mj_defaultVisual(mjVisual* vis) {
// global
vis->global.cameraid = -1;
vis->global.orthographic = 0;
vis->global.fovy = 45;
vis->global.ipd = 0.068;
vis->global.azimuth = 90;
vis->global.elevation = -45;
vis->global.linewidth = 1.0;
vis->global.glow = 0.3;
vis->global.offwidth = 640;
vis->global.offheight = 480;
vis->global.realtime = 1.0;
vis->global.ellipsoidinertia = 0;
vis->global.bvactive = 1;
// rendering quality
vis->quality.shadowsize = 4096;
vis->quality.offsamples = 4;
vis->quality.numslices = 28;
vis->quality.numstacks = 16;
vis->quality.numquads = 4;
// head light
vis->headlight.ambient[0] = 0.1;
vis->headlight.ambient[1] = 0.1;
vis->headlight.ambient[2] = 0.1;
vis->headlight.diffuse[0] = 0.4;
vis->headlight.diffuse[1] = 0.4;
vis->headlight.diffuse[2] = 0.4;
vis->headlight.specular[0] = 0.5;
vis->headlight.specular[1] = 0.5;
vis->headlight.specular[2] = 0.5;
vis->headlight.active = 1;
// map parameters
vis->map.stiffness = 100;
vis->map.stiffnessrot = 500;
vis->map.force = 0.005;
vis->map.torque = 0.1;
vis->map.alpha = 0.3;
vis->map.fogstart = 3.0;
vis->map.fogend = 10.0;
vis->map.znear = 0.01;
vis->map.zfar = 50.0;
vis->map.haze = 0.3;
vis->map.shadowclip = 1.0;
vis->map.shadowscale = 0.6;
vis->map.actuatortendon = 2.0;
// size parameters
vis->scale.forcewidth = 0.1;
vis->scale.contactwidth = 0.3;
vis->scale.contactheight = 0.1;
vis->scale.connect = 0.2;
vis->scale.com = 0.4;
vis->scale.camera = 0.3;
vis->scale.light = 0.3;
vis->scale.selectpoint = 0.2;
vis->scale.jointlength = 1.0;
vis->scale.jointwidth = 0.1;
vis->scale.actuatorlength = 0.7;
vis->scale.actuatorwidth = 0.2;
vis->scale.framelength = 1.0;
vis->scale.framewidth = 0.1;
vis->scale.constraint = 0.1;
vis->scale.slidercrank = 0.2;
vis->scale.frustum = 10.0;
// colors
setf4(vis->rgba.fog, 0., 0., 0., 1.);
setf4(vis->rgba.haze, 1., 1., 1., 1.);
setf4(vis->rgba.force, 1., .5, .5, 1.);
setf4(vis->rgba.inertia, .8, .2, .2, .6);
setf4(vis->rgba.joint, .2, .6, .8, 1.);
setf4(vis->rgba.actuator, .2, .25, .2, 1);
setf4(vis->rgba.actuatornegative, .2, .6, .9, 1.);
setf4(vis->rgba.actuatorpositive, .9, .4, .2, 1.);
setf4(vis->rgba.com, .9, .9, .9, 1.);
setf4(vis->rgba.camera, .6, .9, .6, 1);
setf4(vis->rgba.light, .6, .6, .9, 1.);
setf4(vis->rgba.selectpoint, .9, .9, .1, 1.);
setf4(vis->rgba.connect, .2, .2, .8, 1.);
setf4(vis->rgba.contactpoint, .9, .6, .2, 1.);
setf4(vis->rgba.contactforce, .7, .9, .9, 1.);
setf4(vis->rgba.contactfriction, .9, .8, .4, 1.);
setf4(vis->rgba.contacttorque, .9, .7, .9, 1.);
setf4(vis->rgba.contactgap, .5, .8, .9, 1.);
setf4(vis->rgba.rangefinder, 1., 1., .1, 1.);
setf4(vis->rgba.constraint, .9, .0, .0, 1.);
setf4(vis->rgba.slidercrank, .5, .3, .8, 1.);
setf4(vis->rgba.crankbroken, .9, .0, .0, 1.);
setf4(vis->rgba.frustum, 1., 1., .0, .2);
setf4(vis->rgba.bv, 0., 1., .0, .5);
setf4(vis->rgba.bvactive, 1., 0., .0, .5);
}
//------------------------------- mjStatistic ------------------------------------------------------
// set statistics to default values; compute later in compiler
void mj_defaultStatistic(mjStatistic* stat) {
mju_zero3(stat->center);
stat->extent = 2;
stat->meaninertia = 1;
stat->meanmass = 1;
stat->meansize = 0.2;
}
//----------------------------------- static utility functions -------------------------------------