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Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names), and fix a couple of typos.

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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
This commit is contained in:
Kyle Bayes
2023-08-02 14:42:49 +01:00
committed by nimrod
parent dac34c91bb
commit efca1a76aa
9 changed files with 712 additions and 532 deletions
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src/user/user_model.cc
+35 -35
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@@ -828,7 +828,7 @@ void mjCModel::SetDefaultNames(void) {
// meshes
for (int i=0; i<meshes.size(); i++) {
if (meshes[i]->name.empty()) {
stripped = mjuu_strippath(meshes[i]->file);
stripped = mjuu_strippath(meshes[i]->file());
meshes[i]->name = mjuu_stripext(stripped);
// name cannot be empty
@@ -934,12 +934,12 @@ void mjCModel::SetSizes(void) {
// nmeshvert, nmeshface, nmeshtexcoord, nmeshgraph
for (int i=0; i<nmesh; i++) {
nmeshvert += meshes[i]->nvert;
nmeshnormal += meshes[i]->nnormal;
nmeshface += meshes[i]->nface;
nmeshtexcoord += (meshes[i]->texcoord ? meshes[i]->ntexcoord : 0);
nmeshgraph += meshes[i]->szgraph;
nbvh += meshes[i]->tree.nbvh;
nmeshvert += meshes[i]->nvert();
nmeshnormal += meshes[i]->nnormal();
nmeshface += meshes[i]->nface();
nmeshtexcoord += (meshes[i]->HasTexcoord() ? meshes[i]->ntexcoord() : 0);
nmeshgraph += meshes[i]->szgraph();
nbvh += meshes[i]->tree().nbvh;
}
// nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert
@@ -1712,43 +1712,43 @@ void mjCModel::CopyObjects(mjModel* m) {
// set fields
m->mesh_vertadr[i] = vert_adr;
m->mesh_vertnum[i] = pme->nvert;
m->mesh_vertnum[i] = pme->nvert();
m->mesh_normaladr[i] = normal_adr;
m->mesh_normalnum[i] = pme->nnormal;
m->mesh_texcoordadr[i] = (pme->texcoord ? texcoord_adr : -1);
m->mesh_texcoordnum[i] = pme->ntexcoord;
m->mesh_normalnum[i] = pme->nnormal();
m->mesh_texcoordadr[i] = (pme->HasTexcoord() ? texcoord_adr : -1);
m->mesh_texcoordnum[i] = pme->ntexcoord();
m->mesh_faceadr[i] = face_adr;
m->mesh_facenum[i] = pme->nface;
m->mesh_graphadr[i] = (pme->szgraph ? graph_adr : -1);
m->mesh_facenum[i] = pme->nface();
m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
m->mesh_bvhadr[i] = bvh_adr;
m->mesh_bvhnum[i] = pme->tree.nbvh;
m->mesh_bvhnum[i] = pme->tree().nbvh;
// copy vertices, normals, faces, texcoords, aux data
memcpy(m->mesh_vert + 3*vert_adr, pme->vert, 3*pme->nvert*sizeof(float));
memcpy(m->mesh_normal + 3*normal_adr, pme->normal, 3*pme->nnormal*sizeof(float));
memcpy(m->mesh_face + 3*face_adr, pme->face, 3*pme->nface*sizeof(float));
memcpy(m->mesh_facenormal + 3*face_adr, pme->facenormal, 3*pme->nface*sizeof(int));
if (pme->texcoord) {
memcpy(m->mesh_texcoord + 2*texcoord_adr, pme->texcoord, 2*pme->ntexcoord*sizeof(float));
memcpy(m->mesh_facetexcoord + 3*face_adr, pme->facetexcoord, 3*pme->nface*sizeof(int));
pme->CopyVert(m->mesh_vert + 3*vert_adr);
pme->CopyNormal(m->mesh_normal + 3*normal_adr);
pme->CopyFace(m->mesh_face + 3*face_adr);
pme->CopyFaceNormal(m->mesh_facenormal + 3*face_adr);
if (pme->HasTexcoord()) {
pme->CopyTexcoord(m->mesh_texcoord + 2*texcoord_adr);
pme->CopyFaceTexcoord(m->mesh_facetexcoord + 3*face_adr);
} else {
memset(m->mesh_facetexcoord + 3*face_adr, 0, 3*pme->nface*sizeof(int));
memset(m->mesh_facetexcoord + 3*face_adr, 0, 3*pme->nface()*sizeof(int));
}
if (pme->szgraph) {
memcpy(m->mesh_graph + graph_adr, pme->graph, pme->szgraph*sizeof(int));
if (pme->szgraph()) {
pme->CopyGraph(m->mesh_graph + graph_adr);
}
memcpy(m->bvh_aabb + 6*bvh_adr, pme->tree.bvh.data(), 6*pme->tree.nbvh*sizeof(mjtNum));
memcpy(m->bvh_child + 2*bvh_adr, pme->tree.child.data(), 2*pme->tree.nbvh*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pme->tree.level.data(), pme->tree.nbvh*sizeof(int));
memcpy(m->bvh_geomid + bvh_adr, pme->tree.nodeid.data(), pme->tree.nbvh*sizeof(int));
memcpy(m->bvh_aabb + 6*bvh_adr, pme->tree().bvh.data(), 6*pme->tree().nbvh*sizeof(mjtNum));
memcpy(m->bvh_child + 2*bvh_adr, pme->tree().child.data(), 2*pme->tree().nbvh*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pme->tree().level.data(), pme->tree().nbvh*sizeof(int));
memcpy(m->bvh_geomid + bvh_adr, pme->tree().nodeid.data(), pme->tree().nbvh*sizeof(int));
// advance counters
vert_adr += pme->nvert;
normal_adr += pme->nnormal;
texcoord_adr += (pme->texcoord ? pme->ntexcoord : 0);
face_adr += pme->nface;
graph_adr += pme->szgraph;
bvh_adr += pme->tree.nbvh;
vert_adr += pme->nvert();
normal_adr += pme->nnormal();
texcoord_adr += (pme->HasTexcoord() ? pme->ntexcoord() : 0);
face_adr += pme->nface();
graph_adr += pme->szgraph();
bvh_adr += pme->tree().nbvh;
}
// skins
@@ -2535,7 +2535,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, int vfs_provider) {
for (int i=0; i<geoms.size(); i++) {
if (geoms[i]->meshid>=0 && geoms[i]->type==mjGEOM_MESH &&
(geoms[i]->contype || geoms[i]->conaffinity)) {
meshes[geoms[i]->meshid]->needhull = true;
meshes[geoms[i]->meshid]->set_needhull(true);
}
}