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Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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Also, minor type-related fixes in `user_mesh.cc`.

PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
This commit is contained in:
Yuval Tassa
2024-09-16 03:39:11 -07:00
committed by Copybara-Service
parent dde25d039b
commit fd17b2144a
12 changed files with 52 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+16 -15
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@@ -28,7 +28,6 @@
#include <vector>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "user/user_api.h"
#ifdef MUJOCO_TINYOBJLOADER_IMPL
@@ -73,6 +72,8 @@ extern "C" {
namespace {
using mujoco::user::VectorToString;
using mujoco::user::FilePath;
using std::max;
using std::min;
} // namespace
// compute triangle area, surface normal, center
@@ -730,7 +731,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
case mjGEOM_CAPSULE:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = mju_max(0, boxsz[2] - geom->size[0]/2);
geom->size[1] = max(0.0, boxsz[2] - geom->size[0]/2);
break;
case mjGEOM_CYLINDER:
@@ -768,7 +769,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
for (int i=0; i < nvert(); i++) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = mjuu_dist3(v, cen);
geom->size[0] = mju_max(geom->size[0], dst);
geom->size[0] = max(geom->size[0], dst);
}
break;
@@ -781,11 +782,11 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
geom->size[0] = mju_max(geom->size[0], dst);
geom->size[0] = max(geom->size[0], dst);
// proceed with z: valid for cylinder
double dst2 = fabs(v[2]-cen[2]);
geom->size[1] = mju_max(geom->size[1], dst2);
double dst2 = abs(v[2]-cen[2]);
geom->size[1] = max(geom->size[1], dst2);
}
// special handling of capsule: consider curved cap
@@ -796,11 +797,11 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
double dst2 = fabs(v[2]-cen[2]);
double dst2 = abs(v[2]-cen[2]);
// get spherical elevation at horizontal distance dst
double h = geom->size[0] * sin(acos(dst/geom->size[0]));
geom->size[1] = mju_max(geom->size[1], dst2-h);
geom->size[1] = max(geom->size[1], dst2-h);
}
}
break;
@@ -1120,7 +1121,7 @@ void mjCMesh::LoadSTL(mjResource* resource) {
resource->name);
}
// check if vertex coordinates can be cast to an int safely
if (fabs(v[k])>pow(2, 30)) {
if (fabs(v[k]) > pow(2, 30)) {
throw mjCError(this,
"vertex coordinates in STL file '%s' exceed maximum bounds",
resource->name);
@@ -1249,7 +1250,7 @@ void mjCMesh::ComputeVolume(double CoM[3], mjtGeomInertia type,
// if legacy computation requested, then always positive
if (!exactmeshinertia && type==mjINERTIA_VOLUME) {
vol = fabs(vol);
vol = abs(vol);
}
// add pyramid com
@@ -1441,7 +1442,7 @@ void mjCMesh::Process() {
// if legacy computation requested, then always positive
if (!exactmeshinertia && type==mjINERTIA_VOLUME) {
vol = fabs(vol);
vol = abs(vol);
}
// apply formula, accumulate
@@ -1515,8 +1516,8 @@ void mjCMesh::Process() {
vert_[3*i+j] = (float) res[j];
// axis-aligned bounding box
aamm_[j+0] = mju_min(aamm_[j+0], res[j]);
aamm_[j+3] = mju_max(aamm_[j+3], res[j]);
aamm_[j+0] = min(aamm_[j+0], res[j]);
aamm_[j+3] = max(aamm_[j+3], res[j]);
}
}
for (int i=0; i < nnormal(); i++) {
@@ -2638,8 +2639,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
int* v = elem_.data() + f*(dim+1);
for (int e = 0; e < kNumEdges[dim-1]; e++) {
auto pair = std::pair(
std::min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
std::max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])
min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])
);
// if edge is already present in the vector only store its index