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Mujoco_WASM/src/engine/engine_setconst.c
T
Taylor Howell bb38a34869 Skip shared dofs for contact constraints 
PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
2026-03-16 08:36:58 -07:00

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// Copyright 2021 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_setconst.h"
#include <stdio.h>
#include <string.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjsan.h> // IWYU pragma: keep
#include "engine/engine_core_smooth.h"
#include "engine/engine_core_util.h"
#include "engine/engine_forward.h"
#include "engine/engine_io.h"
#include "engine/engine_memory.h"
#include "engine/engine_util_blas.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_util_sparse.h"
#include "engine/engine_util_spatial.h"
// compute dof_M0 via composite rigid body algorithm
static void mj_setM0(mjModel* m, mjData* d) {
mjtNum buf[6];
mjtNum* crb = d->crb;
int last_body = m->nbody - 1, nv = m->nv;
// copy cinert into crb
mju_copy(crb, d->cinert, 10*m->nbody);
// backward pass over bodies, accumulate composite inertias
for (int i=last_body; i > 0; i--) {
if (m->body_parentid[i] > 0) {
mju_addTo(crb+10*m->body_parentid[i], crb+10*i, 10);
}
}
for (int i=0; i < nv; i++) {
// precomute buf = crb_body_i * cdof_i
mju_mulInertVec(buf, crb+10*m->dof_bodyid[i], d->cdof+6*i);
// dof_M0(i) = armature inertia + cdof_i * (crb_body_i * cdof_i)
m->dof_M0[i] = m->dof_armature[i] + mju_dot(d->cdof+6*i, buf, 6);
}
}
// helper function to get the tree id of a wrap object
static int GetWrapBodyTreeId(const mjModel* m, int wrap_index) {
int bodyid = -1;
int objid = m->wrap_objid[wrap_index];
switch ((mjtWrap)m->wrap_type[wrap_index]) {
case mjWRAP_JOINT:
bodyid = m->jnt_bodyid[objid];
break;
case mjWRAP_SITE:
bodyid = m->site_bodyid[objid];
break;
case mjWRAP_SPHERE:
case mjWRAP_CYLINDER:
bodyid = m->geom_bodyid[objid];
break;
case mjWRAP_PULLEY:
case mjWRAP_NONE:
break;
}
return (bodyid != -1) ? m->body_treeid[bodyid] : -1;
}
// set fixed quantities (do not depend on qpos0)
static void setFixed(mjModel* m, mjData* d) {
mj_markStack(d);
// ----- general
// compute subtreemass
for (int i=0; i < m->nbody; i++) {
m->body_subtreemass[i] = m->body_mass[i];
}
for (int i=m->nbody-1; i > 0; i--) {
m->body_subtreemass[m->body_parentid[i]] += m->body_subtreemass[i];
}
// compute ngravcomp: number of bodies with gravity compensation
int ngravcomp = 0;
for (int i=0; i < m->nbody; i++) {
ngravcomp += (m->body_gravcomp[i] > 0);
}
m->ngravcomp = ngravcomp;
// ----- tree related (body_treeid and dof_treeid already computed)
// compute body_treeid
for (int i=0; i < m->nbody; i++) {
int weldid = m->body_weldid[i];
if (m->body_dofnum[weldid]) {
m->body_treeid[i] = m->dof_treeid[m->body_dofadr[weldid]];
} else {
m->body_treeid[i] = -1;
}
}
// compute tree_bodyadr, tree_bodynum
mju_zeroInt(m->tree_bodynum, m->ntree);
int tree_current = -1;
for (int i=1; i < m->nbody; i++) {
int treeid = m->body_treeid[i];
if (treeid != -1) {
if (treeid > tree_current) {
m->tree_bodyadr[++tree_current] = i;
}
m->tree_bodynum[tree_current]++;
}
}
// compute tree_dofadr, tree_dofnum
mju_zeroInt(m->tree_dofnum, m->ntree);
tree_current = -1;
for (int i=0; i < m->nv; i++) {
if (m->dof_treeid[i] > tree_current) {
m->tree_dofadr[++tree_current] = i;
}
m->tree_dofnum[tree_current]++;
}
// compute tendon_treeid, tendon_treenum
int* tree_marker = mjSTACKALLOC(d, m->ntree, int); // 1 if tree has been visited, 0 otherwise
for (int i = 0; i < m->ntendon; i++) {
mju_zeroInt(tree_marker, m->ntree);
m->tendon_treenum[i] = 0;
m->tendon_treeid[2*i] = -1;
m->tendon_treeid[2*i+1] = -1;
for (int j = m->tendon_adr[i]; j < m->tendon_adr[i] + m->tendon_num[i]; j++) {
int wrap_treeid = GetWrapBodyTreeId(m, j);
if (wrap_treeid != -1 && !tree_marker[wrap_treeid]) {
tree_marker[wrap_treeid] = 1;
if (m->tendon_treenum[i] == 0) {
m->tendon_treeid[2*i] = wrap_treeid;
} else if (m->tendon_treenum[i] == 1) {
m->tendon_treeid[2*i+1] = wrap_treeid;
}
m->tendon_treenum[i]++;
}
}
}
// ----- apply compiler AUTO tree sleep policy
// actuators: trees with any actuated joint, site, body, or tendon do not auto-sleep
for (int i=0; i < m->nu; i++) {
int bodyid = -1;
int tid = m->actuator_trnid[2*i];
switch ((mjtTrn)m->actuator_trntype[i]) {
case mjTRN_JOINT:
case mjTRN_JOINTINPARENT:
bodyid = m->jnt_bodyid[tid];
break;
case mjTRN_SITE:
case mjTRN_SLIDERCRANK:
bodyid = m->site_bodyid[tid];
break;
case mjTRN_BODY:
bodyid = tid;
break;
case mjTRN_TENDON:
// wake all trees connected by this actuated tendon
for (int j = m->tendon_adr[tid]; j < m->tendon_adr[tid] + m->tendon_num[tid]; j++) {
int treeid = GetWrapBodyTreeId(m, j);
if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
}
}
continue; // next actuator
case mjTRN_UNDEFINED:
continue; // next actuator
}
// wake tree containing bodyid, if any
if (bodyid != -1) {
int treeid = m->body_treeid[bodyid];
if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
}
}
}
// trees with inter-tree tendons that have non-zero stiffness or damping do not auto-sleep
// if the tendon spans more than 2 trees.
for (int i=0; i < m->ntendon; i++) {
int treenum = m->tendon_treenum[i];
// tendon spans 1 or 0 trees: skip
if (treenum < 2) {
continue;
}
// tendon spans 2 trees and has no stiffness or damping: skip
if (treenum == 2 && m->tendon_stiffness[i] == 0 && m->tendon_damping[i] == 0) {
continue;
}
// tendon spans two trees with stiffness or damping or more than two trees: wake all trees
mju_zeroInt(tree_marker, m->ntree);
for (int j = m->tendon_adr[i]; j < m->tendon_adr[i] + m->tendon_num[i]; j++) {
int treeid = GetWrapBodyTreeId(m, j);
// if the tree is not yet marked, mark it and wake it up
if (treeid != -1 && !tree_marker[treeid]) {
tree_marker[treeid] = 1;
int policy = m->tree_sleep_policy[treeid];
// mark tree as never sleeping
if (policy == mjSLEEP_AUTO) {
m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
}
// if the user marked it as sleepable, throw an error
else if (policy == mjSLEEP_ALLOWED || policy == mjSLEEP_INIT) {
mj_freeStack(d);
if (treenum > 2) {
mjERROR("tree %d connected to tendon %d which spans more than 2 trees, "
"sleeping not allowed", treeid, i);
} else {
mjERROR("tree %d connected to tendon %d with non-zero stiffness or damping, "
"sleeping not allowed", treeid, i);
}
}
}
}
}
// flexes: trees containing bodies that are part of any flex are not allowed to sleep
for (int i = 0; i < m->nflex; ++i) {
// node-based flex
if (m->flex_interp[i]) {
int nodenum = m->flex_nodenum[i];
int* bodyid = m->flex_nodebodyid + m->flex_nodeadr[i];
for (int j = 0; j < nodenum; ++j) {
int treeid = m->body_treeid[bodyid[j]];
if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
}
}
}
// vertex-based flex
else {
int vertnum = m->flex_vertnum[i];
int* bodyid = m->flex_vertbodyid + m->flex_vertadr[i];
for (int j = 0; j < vertnum; ++j) {
int treeid = m->body_treeid[bodyid[j]];
if (treeid != -1 && m->tree_sleep_policy[treeid] == mjSLEEP_AUTO) {
m->tree_sleep_policy[treeid] = mjSLEEP_AUTO_NEVER;
}
}
}
}
// set remaining trees with mjSLEEP_AUTO policy to mjSLEEP_AUTO_ALLOWED
for (int i = 0; i < m->ntree; i++) {
if (m->tree_sleep_policy[i] == mjSLEEP_AUTO) {
m->tree_sleep_policy[i] = mjSLEEP_AUTO_ALLOWED;
}
}
mj_freeStack(d);
}
// compute tendon Jacobian sparsity
static void makeTendonSparse(mjModel* m) {
int ntendon = m->ntendon;
int* rownnz = m->ten_J_rownnz;
int* rowadr = m->ten_J_rowadr;
int* colind = m->ten_J_colind;
if (!ntendon) {
return;
}
// clear
mju_zeroInt(rownnz, ntendon);
mju_zeroInt(rowadr, ntendon);
// compute rownnz, rowadr, and colind for each tendon
for (int i = 0; i < ntendon; i++) {
rowadr[i] = (i > 0 ? rowadr[i-1] + rownnz[i-1] : 0);
int adr = m->tendon_adr[i];
int num = m->tendon_num[i];
// joint tendon: each wrap object is a joint, colind is its dofadr
if (m->wrap_type[adr] == mjWRAP_JOINT) {
for (int j = 0; j < num; j++) {
colind[rowadr[i] + j] = m->jnt_dofadr[m->wrap_objid[adr + j]];
}
rownnz[i] = num;
} else {
// spatial tendon: collect used dofs from wrap object bodies
int nnz = 0;
for (int j = 0; j < num; j++) {
int type = m->wrap_type[adr + j];
// get body id from site or geom wrap object
int bodyid = -1;
if (type == mjWRAP_SITE) {
bodyid = m->site_bodyid[m->wrap_objid[adr + j]];
} else if (type == mjWRAP_SPHERE || type == mjWRAP_CYLINDER) {
bodyid = m->geom_bodyid[m->wrap_objid[adr + j]];
}
// walk up the body tree, collecting used dofs
if (bodyid > 0) {
int bid = bodyid;
while (bid > 0) {
int bdofadr = m->body_dofadr[bid];
int bdofnum = m->body_dofnum[bid];
for (int k = 0; k < bdofnum; k++) {
int dof = bdofadr + k;
// check if dof already in colind
int found = 0;
for (int l = 0; l < nnz; l++) {
if (colind[rowadr[i] + l] == dof) {
found = 1;
break;
}
}
// append new dof
if (!found) {
colind[rowadr[i] + nnz] = dof;
nnz++;
}
}
bid = m->body_parentid[bid];
}
}
}
rownnz[i] = nnz;
}
// sort colind for this tendon
int nnz = rownnz[i];
for (int j = 0; j < nnz - 1; j++) {
for (int k = j + 1; k < nnz; k++) {
// swap out-of-order entries
if (colind[rowadr[i] + k] < colind[rowadr[i] + j]) {
int tmp = colind[rowadr[i] + j];
colind[rowadr[i] + j] = colind[rowadr[i] + k];
colind[rowadr[i] + k] = tmp;
}
}
}
}
}
// compute flex sparsity: flexedge_J_{rowadr,rownnz,colind} and flexvert_J_{rowadr,rownnz}
static void makeFlexSparse(mjModel* m, mjData* d) {
int nv = m->nv;
int* rowadr = m->flexedge_J_rowadr;
int* rownnz = m->flexedge_J_rownnz;
int* colind = m->flexedge_J_colind;
int* vrowadr = m->flexvert_J_rowadr;
int* vrownnz = m->flexvert_J_rownnz;
if (!m->nflex) {
return;
}
mj_markStack(d);
int* chain = mjSTACKALLOC(d, nv, int);
int* chain1 = mjSTACKALLOC(d, nv, int);
int* chain2 = mjSTACKALLOC(d, nv, int);
int* buf_ind = mjSTACKALLOC(d, nv, int);
mjtNum* dummy_pos = mjSTACKALLOC(d, 3, mjtNum);
mju_zero(dummy_pos, 3);
// clear
mju_zeroInt(rowadr, m->nflexedge);
mju_zeroInt(rownnz, m->nflexedge);
mju_zeroInt(vrowadr, 2 * m->nflexvert);
mju_zeroInt(vrowadr, 2 * m->nflexvert);
mju_zeroInt(vrownnz, 2 * m->nflexvert);
mju_zeroInt(m->flex_vertedgeadr, m->nflexvert);
mju_zeroInt(m->flex_vertedgenum, m->nflexvert);
mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
mju_zeroInt(m->flex_vertedge, 2 * m->nflexedge);
mju_zero(m->flex_vertmetric, 4 * m->nflexvert);
int current_adj_offset = 0;
// compute lengths and Jacobians of edges
for (int f = 0; f < m->nflex; f++) {
// skip if edges cannot generate forces
if (m->flex_rigid[f] || m->flex_interp[f]) {
continue;
}
// skip Jacobian if no built-in passive force is needed
int skipjacobian = !m->flex_edgeequality[f] && !m->flex_edgedamping[f] &&
!m->flex_edgestiffness[f] && !m->flex_damping[f];
// process edges of this flex
int vbase = m->flex_vertadr[f];
int ebase = m->flex_edgeadr[f];
for (int e = 0; e < m->flex_edgenum[f]; e++) {
if (skipjacobian) {
continue;
}
// set rowadr
if (ebase + e > 0) {
rowadr[ebase + e] = rowadr[ebase + e - 1] + rownnz[ebase + e - 1];
}
int v1 = m->flex_edge[2 * (ebase + e)];
int v2 = m->flex_edge[2 * (ebase + e) + 1];
int b1 = m->flex_vertbodyid[vbase + v1];
int b2 = m->flex_vertbodyid[vbase + v2];
// get sparsity
int NV = mj_jacDifPair(m, d, chain, b1, b2, dummy_pos, dummy_pos, NULL,
NULL, NULL, NULL, NULL, NULL, /*issparse=*/1, /*skipcommon=*/0);
// copy sparsity info
rownnz[ebase + e] = NV;
mju_copyInt(colind + rowadr[ebase + e], chain, NV);
}
// if dim=2 and constraints are active we use the vertex-based constraint
if (m->flex_dim[f] == 2 && m->flex_edgeequality[f] == 2) {
int nvert = m->flex_vertnum[f];
// populate global vertex adjacency list
int* v_edge_cnt = m->flex_vertedgenum + vbase;
int* v_edge_adr = m->flex_vertedgeadr + vbase;
int* adj_edges = m->flex_vertedge; // global array
for (int e = 0; e < m->flex_edgenum[f]; ++e) {
v_edge_cnt[m->flex_edge[2 * (ebase + e) + 0]]++;
v_edge_cnt[m->flex_edge[2 * (ebase + e) + 1]]++;
}
int total_adj_edges = 0;
for (int v = 0; v < nvert; ++v) {
v_edge_adr[v] = current_adj_offset + total_adj_edges;
total_adj_edges += v_edge_cnt[v];
}
int* v_edge_fill = mjSTACKALLOC(d, nvert, int);
mju_zeroInt(v_edge_fill, nvert);
for (int e = 0; e < m->flex_edgenum[f]; ++e) {
int v1 = m->flex_edge[2 * (ebase + e) + 0];
int v2 = m->flex_edge[2 * (ebase + e) + 1];
adj_edges[v_edge_adr[v1] + v_edge_fill[v1]] = e;
v_edge_fill[v1]++;
adj_edges[v_edge_adr[v2] + v_edge_fill[v2]] = e;
v_edge_fill[v2]++;
}
// precompute metric (Binv)
for (int v = 0; v < nvert; ++v) {
mjtNum B[4] = {0};
int v_global = vbase + v;
for (int k = 0; k < v_edge_cnt[v]; ++k) {
int e = adj_edges[v_edge_adr[v] + k];
// compute rest edge vector
mjtNum dx[3];
int v1 = m->flex_edge[2 * (ebase + e)];
int v2 = m->flex_edge[2 * (ebase + e) + 1];
mju_sub3(dx, m->flex_vert0 + 3 * (vbase + v2),
m->flex_vert0 + 3 * (vbase + v1));
// apply scaling since they are half sizes
dx[0] *= 2 * m->flex_size[3 * f + 0];
dx[1] *= 2 * m->flex_size[3 * f + 1];
dx[2] *= 2 * m->flex_size[3 * f + 2];
if (mju_abs(dx[2]) > mjMINVAL) {
mjERROR("flex vertices are not in the same plane");
}
// get mass of neighbor vertex
mjtNum weight = 1.0;
int neighbor_v = (v == v1) ? v2 : v1;
int b_neighbor = m->flex_vertbodyid[vbase + neighbor_v];
if (b_neighbor >= 0) {
weight = m->body_mass[b_neighbor];
if (weight < mjMINVAL) weight = mjMINVAL;
}
// accumulate B += w * dx * dx'
for (int row = 0; row < 2; row++) {
for (int col = 0; col < 2; col++) {
B[2 * row + col] += weight * dx[row] * dx[col];
}
}
}
mjtNum* metric = m->flex_vertmetric + 4 * v_global;
mjtNum det = B[0] * B[3] - B[1] * B[2];
if (mju_abs(det) < mjMINVAL) {
mju_zero(metric, 4);
} else {
mjtNum invdet = 1.0 / det;
metric[0] = B[3] * invdet;
metric[1] = -B[1] * invdet;
metric[2] = -B[2] * invdet;
metric[3] = B[0] * invdet;
}
}
// advance global offset
current_adj_offset += total_adj_edges;
// determine start address for this flex
int v0_base = 2 * vbase;
int current_adr = 0;
if (v0_base > 0) {
current_adr = vrowadr[v0_base - 1] + vrownnz[v0_base - 1];
}
vrowadr[v0_base] = current_adr;
for (int v = 0; v < nvert; ++v) {
// clear buf_ind
mju_zeroInt(buf_ind, nv);
int current_nnz = 0;
for (int i = 0; i < v_edge_cnt[v]; ++i) {
int e = adj_edges[v_edge_adr[v] + i];
int v1 = m->flex_edge[2 * (ebase + e)];
int v2 = m->flex_edge[2 * (ebase + e) + 1];
// chains from edge e
int b1 = m->flex_vertbodyid[vbase + v1];
int b2 = m->flex_vertbodyid[vbase + v2];
int NV1 = mj_bodyChain(m, b1, chain1);
int NV2 = mj_bodyChain(m, b2, chain2);
for (int j = 0; j < NV1; ++j) {
if (!buf_ind[chain1[j]]) {
buf_ind[chain1[j]] = 1;
current_nnz++;
}
}
for (int j = 0; j < NV2; ++j) {
if (!buf_ind[chain2[j]]) {
buf_ind[chain2[j]] = 1;
current_nnz++;
}
}
}
int row0 = 2 * (vbase + v);
int row1 = 2 * (vbase + v) + 1;
vrownnz[row0] = vrownnz[row1] = current_nnz;
// set rowadr for next rows
vrowadr[row1] = vrowadr[row0] + current_nnz;
if (row1 + 1 < 2 * m->nflexvert) {
vrowadr[row1 + 1] = vrowadr[row1] + current_nnz;
}
// fill colind
int count = 0;
for (int j = 0; j < nv; j++) {
if (buf_ind[j]) {
m->flexvert_J_colind[vrowadr[row0] + count] = j;
m->flexvert_J_colind[vrowadr[row1] + count] = j;
count++;
}
}
}
}
}
mj_freeStack(d);
}
// align 2D flexes to the XY plane
static void mj_alignFlex(mjModel* m, mjData* d) {
for (int f = 0; f < m->nflex; f++) {
// only for 2D flexes with vertex equality constraints
if (m->flex_dim[f] == 2 && m->flex_edgeequality[f] == 2) {
// get element data
int t_adr = m->flex_elemdataadr[f];
int vbase = m->flex_vertadr[f];
int t0 = m->flex_elem[t_adr];
int t1 = m->flex_elem[t_adr + 1];
int t2 = m->flex_elem[t_adr + 2];
// compute normal from first element
mjtNum edge1[3], edge2[3], normal[3];
mju_sub3(edge1, m->flex_vert0 + 3 * (vbase + t1), m->flex_vert0 + 3 * (vbase + t0));
mju_sub3(edge2, m->flex_vert0 + 3 * (vbase + t2),
m->flex_vert0 + 3 * (vbase + t0));
mju_cross(normal, edge1, edge2);
mju_normalize3(normal);
// compute rotation to Z
mjtNum quat[4], mat[9];
mju_quatZ2Vec(quat, normal);
mju_quat2Mat(mat, quat);
// rotate all vertices of this flex
int nvert = m->flex_vertnum[f];
for (int v = 0; v < nvert; v++) {
mjtNum* vert = m->flex_vert0 + 3 * (vbase + v);
mjtNum res[3];
mju_mulMatTVec3(res, mat, vert);
mju_copy3(vert, res);
// check planarity (warning if not planar)
if (mju_abs(vert[2] - m->flex_vert0[3 * (vbase + t0) + 2]) > 100 * mjMINVAL) {
static int warned = 0;
if (!warned) {
warned = 1;
mju_warning("flex %d is not planar", f);
}
}
}
}
}
}
// set quantities that depend on qpos0
static void set0(mjModel* m, mjData* d) {
makeTendonSparse(m);
makeFlexSparse(m, d);
mj_alignFlex(m, d);
int nv = m->nv;
mjtNum A[36] = {0}, pos[3], quat[4];
mj_markStack(d);
mjtNum* jac = mjSTACKALLOC(d, 6*nv, mjtNum);
mjtNum* tmp = mjSTACKALLOC(d, 6*nv, mjtNum);
mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
int* cammode = 0;
int* lightmode = 0;
// save camera and light mode, set to fixed
if (m->ncam) {
cammode = mjSTACKALLOC(d, m->ncam, int);
for (int i=0; i < m->ncam; i++) {
cammode[i] = m->cam_mode[i];
m->cam_mode[i] = mjCAMLIGHT_FIXED;
}
}
if (m->nlight) {
lightmode = mjSTACKALLOC(d, m->nlight, int);
for (int i=0; i < m->nlight; i++) {
lightmode[i] = m->light_mode[i];
m->light_mode[i] = mjCAMLIGHT_FIXED;
}
}
// run computations in qpos0
mju_copy(d->qpos, m->qpos0, m->nq);
mj_kinematics(m, d);
mj_comPos(m, d);
mj_camlight(m, d);
// compute dof_M0 for CRB algorithm
mj_setM0(m, d);
// save flex_rigid, temporarily make all flexes non-rigid
mjtByte* rigid = NULL;
if (m->nflex) {
rigid = mjSTACKALLOC(d, m->nflex, mjtByte);
memcpy(rigid, m->flex_rigid, m->nflex);
memset(m->flex_rigid, 0, m->nflex);
}
// run remaining computations
mj_tendon(m, d);
mj_makeM(m, d);
mj_factorM(m, d);
mj_flex(m, d);
mj_transmission(m, d);
// restore flex rigidity
if (m->nflex) {
memcpy(m->flex_rigid, rigid, m->nflex);
}
// restore camera and light mode
for (int i=0; i < m->ncam; i++) {
m->cam_mode[i] = cammode[i];
}
for (int i=0; i < m->nlight; i++) {
m->light_mode[i] = lightmode[i];
}
// copy fields
mju_copy(m->flexedge_length0, d->flexedge_length, m->nflexedge);
mju_copy(m->tendon_length0, d->ten_length, m->ntendon);
mju_copy(m->actuator_length0, d->actuator_length, m->nu);
// compute body_invweight0
m->body_invweight0[0] = m->body_invweight0[1] = 0.0;
for (int i=1; i < m->nbody; i++) {
// static bodies: zero invweight0
if (m->body_weldid[i] == 0) {
m->body_invweight0[2*i] = m->body_invweight0[2*i+1] = 0;
}
// accelerate simple bodies with no rotations
else if (m->body_simple[i] == 2) {
mjtNum mass = m->body_mass[i];
if (!mass) { // SHOULD NOT OCCUR
mjERROR("moving body %d has 0 mass", i);
}
m->body_invweight0[2*i+0] = 1/mju_max(mjMINVAL, mass);
m->body_invweight0[2*i+1] = 0;
}
// general body: full inertia
else {
if (nv) {
// inverse spatial inertia: A = J*inv(M)*J'
mj_jacBodyCom(m, d, jac, jac+3*nv, i);
mj_solveM(m, d, tmp, jac, 6);
mju_mulMatMatT(A, jac, tmp, 6, nv, 6);
}
// average diagonal and assign
m->body_invweight0[2*i] = (A[0] + A[7] + A[14])/3;
m->body_invweight0[2*i+1] = (A[21] + A[28] + A[35])/3;
}
}
// compute dof_invweight0
for (int i=0; i < m->njnt; i++) {
// simple body with no rotations: no off-diagonal inertia
if (m->body_simple[m->jnt_bodyid[i]] == 2) {
int id = m->jnt_dofadr[i];
int bi = m->jnt_bodyid[i];
mjtNum mass = m->body_mass[bi];
if (!mass) { // SHOULD NOT OCCUR
mjERROR("moving body %d has 0 mass", bi);
}
m->dof_invweight0[id] = 1/mju_max(mjMINVAL, mass);
}
// general joint: full inertia
else {
int dnum, id = m->jnt_dofadr[i];
// get number of components
if (m->jnt_type[i] == mjJNT_FREE) {
dnum = 6;
} else if (m->jnt_type[i] == mjJNT_BALL) {
dnum = 3;
} else {
dnum = 1;
}
// inverse joint inertia: A = J*inv(M)*J'
if (nv) {
mju_zero(jac, dnum*nv);
for (int j=0; j < dnum; j++) {
jac[j*(nv+1) + id] = 1;
}
mj_solveM(m, d, tmp, jac, dnum);
mju_mulMatMatT(A, jac, tmp, dnum, nv, dnum);
}
// average diagonal and assign
if (dnum == 6) {
m->dof_invweight0[id] = m->dof_invweight0[id+1] = m->dof_invweight0[id+2] =
(A[0] + A[7] + A[14])/3;
m->dof_invweight0[id+3] = m->dof_invweight0[id+4] = m->dof_invweight0[id+5] =
(A[21] + A[28] + A[35])/3;
} else if (dnum == 3) {
m->dof_invweight0[id] = m->dof_invweight0[id+1] = m->dof_invweight0[id+2] =
(A[0] + A[4] + A[8])/3;
} else {
m->dof_invweight0[id] = A[0];
}
}
}
// compute flexedge_invweight0, tendon_invweight0, actuator_acc0
if (nv) {
// compute flexedge_invweight0
for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) {
continue;
}
for (int i=m->flex_edgeadr[f]; i < m->flex_edgeadr[f]+m->flex_edgenum[f]; i++) {
// bodies connected by edge
int b1 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f] + m->flex_edge[2*i+1]];
// rigid edge: set to 0
if (m->flexedge_rigid[i]) {
m->flexedge_invweight0[i] = 0;
}
// accelerate edges that connect simple bodies with no rotations
else if (m->body_simple[b1] == 2 && m->body_simple[b2] == 2) {
m->flexedge_invweight0[i] = (1/m->body_mass[b1] + 1/m->body_mass[b2])/2;
}
// handle general edge
else {
// make dense vector into tmp
mju_zero(tmp, nv);
int end = m->flexedge_J_rowadr[i] + m->flexedge_J_rownnz[i];
for (int j=m->flexedge_J_rowadr[i]; j < end; j++) {
tmp[m->flexedge_J_colind[j]] = d->flexedge_J[j];
}
// solve into tmp+nv
mj_solveM(m, d, tmp+nv, tmp, 1);
m->flexedge_invweight0[i] = mju_dot(tmp, tmp+nv, nv);
}
}
}
// compute tendon_invweight0
for (int i=0; i < m->ntendon; i++) {
mju_sparse2dense(tmp, d->ten_J, 1, nv, m->ten_J_rownnz+i, m->ten_J_rowadr+i, m->ten_J_colind);
// solve into tmp+nv
mj_solveM(m, d, tmp+nv, tmp, 1);
m->tendon_invweight0[i] = mju_dot(tmp, tmp+nv, nv);
}
// compute actuator_acc0
for (int i=0; i < m->nu; i++) {
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + i,
d->moment_rowadr + i, d->moment_colind);
mj_solveM(m, d, tmp, moment, 1);
m->actuator_acc0[i] = mju_norm(tmp, nv);
}
} else {
mju_zero(m->tendon_invweight0, m->ntendon);
mju_zero(m->actuator_acc0, m->nu);
}
// compute missing eq_data for body constraints
for (int i=0; i < m->neq; i++) {
// get ids
int id1 = m->eq_obj1id[i];
int id2 = m->eq_obj2id[i];
// connect constraint
if (m->eq_type[i] == mjEQ_CONNECT) {
switch ((mjtObj) m->eq_objtype[i]) {
case mjOBJ_BODY:
// pos = anchor position in global frame
mj_local2Global(d, pos, 0, m->eq_data+mjNEQDATA*i, 0, id1, 0);
// data[3-5] = anchor position in body2 local frame
mju_subFrom3(pos, d->xpos+3*id2);
mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id2, pos);
break;
case mjOBJ_SITE:
// site-based connect, eq_data is unused
mju_zero(m->eq_data+mjNEQDATA*i, mjNEQDATA);
break;
default:
mjERROR("invalid objtype in connect constraint %d", i);
}
}
// weld constraint
else if (m->eq_type[i] == mjEQ_WELD) {
switch ((mjtObj) m->eq_objtype[i]) {
case mjOBJ_BODY: {
// skip if user has set any quaternion data
if (!mju_isZero(m->eq_data + mjNEQDATA*i + 6, 4)) {
// normalize quaternion just in case
mju_normalize4(m->eq_data+mjNEQDATA*i+6);
continue;
}
// anchor position is in body2 local frame
mj_local2Global(d, pos, 0, m->eq_data+mjNEQDATA*i, 0, id2, 0);
// data[3-5] = anchor position in body1 local frame
mju_subFrom3(pos, d->xpos+3*id1);
mju_mulMatTVec3(m->eq_data+mjNEQDATA*i+3, d->xmat+9*id1, pos);
// data[6-9] = neg(xquat1)*xquat2 = "xquat2-xquat1" in body1 local frame
mju_negQuat(quat, d->xquat+4*id1);
mju_mulQuat(m->eq_data+mjNEQDATA*i+6, quat, d->xquat+4*id2);
break;
}
case mjOBJ_SITE: {
break;
}
default:
mjERROR("invalid objtype in weld constraint %d", i);
}
}
}
// camera compos0, pos0, mat0
for (int i=0; i < m->ncam; i++) {
// get body ids
int id = m->cam_bodyid[i]; // camera body
int id1 = m->cam_targetbodyid[i]; // target body
// compute positional offsets
mju_sub3(m->cam_pos0+3*i, d->cam_xpos+3*i, d->xpos+3*id);
mju_sub3(m->cam_poscom0+3*i, d->cam_xpos+3*i, d->subtree_com+ (id1 >= 0 ? 3*id1 : 3*id));
// copy mat
mju_copy9(m->cam_mat0+9*i, d->cam_xmat+9*i);
}
// light compos0, pos0, dir0
for (int i=0; i < m->nlight; i++) {
// get body ids
int id = m->light_bodyid[i]; // light body
int id1 = m->light_targetbodyid[i]; // target body
// compute positional offsets
mju_sub3(m->light_pos0+3*i, d->light_xpos+3*i, d->xpos+3*id);
mju_sub3(m->light_poscom0+3*i, d->light_xpos+3*i, d->subtree_com + (id1 >= 0 ? 3*id1 : 3*id));
// copy dir
mju_copy3(m->light_dir0+3*i, d->light_xdir+3*i);
}
// compute actuator damping from dampratio
for (int i=0; i < m->nu; i++) {
// get bias, gain parameters
mjtNum* biasprm = m->actuator_biasprm + i*mjNBIAS;
mjtNum* gainprm = m->actuator_gainprm + i*mjNGAIN;
// not a position-like actuator: skip
if (gainprm[0] != -biasprm[1]) {
continue;
}
// damping is 0 or negative (interpreted as regular "kv"): skip
if (biasprm[2] <= 0) {
continue;
}
// === interpret biasprm[2] > 0 as dampratio for position-like actuators
// "reflected" inertia (inversely scaled by transmission squared)
int rownnz = d->moment_rownnz[i];
int rowadr = d->moment_rowadr[i];
mjtNum* transmission = d->actuator_moment + rowadr;
mjtNum mass = 0;
for (int j=0; j < rownnz; j++) {
mjtNum trn = mju_abs(transmission[j]);
mjtNum trn2 = trn*trn; // transmission squared
if (trn2 > mjMINVAL) {
int dof = d->moment_colind[rowadr + j];
mass += m->dof_M0[dof] / trn2;
}
}
// damping = dampratio * 2 * sqrt(kp * mass)
mjtNum damping = biasprm[2] * 2 * mju_sqrt(gainprm[0] * mass);
// set biasprm[2] to negative damping
biasprm[2] = -damping;
}
mj_freeStack(d);
}
// accumulate bounding box
static void updateBox(mjtNum* xmin, mjtNum* xmax, mjtNum* pos, mjtNum radius) {
for (int i=0; i < 3; i++) {
xmin[i] = mjMIN(xmin[i], pos[i] - radius);
xmax[i] = mjMAX(xmax[i], pos[i] + radius);
}
}
// compute stat; assume computations already executed in qpos0
static void setStat(mjModel* m, mjData* d) {
mjtNum xmin[3] = {1E+10, 1E+10, 1E+10};
mjtNum xmax[3] = {-1E+10, -1E+10, -1E+10};
mjtNum rbound;
mj_markStack(d);
// approximate length associated with each body
mjtNum* body = mjSTACKALLOC(d, m->nbody, mjtNum);
// compute bounding box of bodies, joint centers, geoms and sites
for (int i=1; i < m->nbody; i++) {
updateBox(xmin, xmax, d->xpos+3*i, 0);
updateBox(xmin, xmax, d->xipos+3*i, 0);
}
for (int i=0; i < m->njnt; i++) {
updateBox(xmin, xmax, d->xanchor+3*i, 0);
}
for (int i=0; i < m->nsite; i++) {
updateBox(xmin, xmax, d->site_xpos+3*i, 0);
}
for (int i=0; i < m->ngeom; i++) {
// set rbound: regular geom rbound, or 0.1 of plane or hfield max size
rbound = 0;
if (m->geom_rbound[i] > 0) {
rbound = m->geom_rbound[i];
} else if (m->geom_type[i] == mjGEOM_PLANE) {
// finite in at least one direction
if (m->geom_size[3*i] || m->geom_size[3*i+1]) {
rbound = mjMAX(m->geom_size[3*i], m->geom_size[3*i+1]) * 0.1;
}
// infinite in both directions
else {
rbound = 1;
}
} else if (m->geom_type[i] == mjGEOM_HFIELD) {
int j = m->geom_dataid[i];
rbound = mjMAX(m->hfield_size[4*j],
mjMAX(m->hfield_size[4*j+1],
mjMAX(m->hfield_size[4*j+2], m->hfield_size[4*j+3]))) * 0.1;
}
updateBox(xmin, xmax, d->geom_xpos+3*i, rbound);
}
// compute center
mju_add3(m->stat.center, xmin, xmax);
mju_scl3(m->stat.center, m->stat.center, 0.5);
// compute bounding box size
if (xmax[0] > xmin[0])
m->stat.extent = mju_max(1E-5,
mju_max(xmax[0]-xmin[0], mju_max(xmax[1]-xmin[1], xmax[2]-xmin[2])));
// set body size to max com-joint distance
mju_zero(body, m->nbody);
for (int i=0; i < m->njnt; i++) {
// handle this body
int id = m->jnt_bodyid[i];
body[id] = mju_max(body[id], mju_dist3(d->xipos+3*id, d->xanchor+3*i));
// handle parent body
id = m->body_parentid[id];
body[id] = mju_max(body[id], mju_dist3(d->xipos+3*id, d->xanchor+3*i));
}
body[0] = 0;
// set body size to max of old value, and geom rbound + com-geom dist
for (int i=1; i < m->nbody; i++) {
for (int id=m->body_geomadr[i]; id < m->body_geomadr[i]+m->body_geomnum[i]; id++) {
if (m->geom_rbound[id] > 0) {
body[i] = mju_max(body[i], m->geom_rbound[id] + mju_dist3(d->xipos+3*i, d->geom_xpos+3*id));
}
}
}
// adjust body size for flex edges involving body
for (int f=0; f < m->nflex; f++) {
if (m->flex_interp[f]) {
for (int v1=m->flex_nodeadr[f]; v1 < m->flex_nodeadr[f]+m->flex_nodenum[f]; v1++) {
for (int v2=m->flex_nodeadr[f]; v2 < m->flex_nodeadr[f]+m->flex_nodenum[f]; v2++) {
mjtNum edge = mju_dist3(d->xpos+3*m->flex_nodebodyid[v1],
d->xpos+3*m->flex_nodebodyid[v2]);
body[m->flex_nodebodyid[v1]] = mju_max(body[m->flex_nodebodyid[v1]], edge);
}
}
continue;
}
for (int e=m->flex_edgeadr[f]; e < m->flex_edgeadr[f]+m->flex_edgenum[f]; e++) {
int b1 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[f]+m->flex_edge[2*e+1]];
body[b1] = mju_max(body[b1], m->flexedge_length0[e]);
body[b2] = mju_max(body[b2], m->flexedge_length0[e]);
}
}
// compute meansize, make sure all sizes are above min
if (m->nbody > 1) {
m->stat.meansize = 0;
for (int i=1; i < m->nbody; i++) {
body[i] = mju_max(body[i], 1E-5);
m->stat.meansize += body[i]/(m->nbody-1);
}
}
// inherit dof length from parent body
for (int i=0; i < m->nv; i++) {
// default to linear dof, already has length units
m->dof_length[i] = 1;
// if rotational dof, inherit from body
int jnt = m->dof_jntid[i];
mjtJoint type = m->jnt_type[jnt];
int offset = i - m->jnt_dofadr[jnt];
if (type == mjJNT_BALL ||
type == mjJNT_HINGE ||
(type == mjJNT_FREE && offset >= 3)) {
m->dof_length[i] = body[m->dof_bodyid[i]];
}
}
// fix extent if too small compared to meanbody
m->stat.extent = mju_max(m->stat.extent, 2 * m->stat.meansize);
// compute meanmass
if (m->nbody > 1) {
m->stat.meanmass = 0;
for (int i=1; i < m->nbody; i++) {
m->stat.meanmass += m->body_mass[i];
}
m->stat.meanmass /= (m->nbody-1);
}
// compute meaninertia
if (m->nv) {
m->stat.meaninertia = 0;
for (int i=0; i < m->nv; i++) {
m->stat.meaninertia += d->qM[m->dof_Madr[i]];
}
m->stat.meaninertia /= m->nv;
}
mj_freeStack(d);
}
// set quantities that depend qpos_spring
static void setSpring(mjModel* m, mjData* d) {
// run computations in qpos_spring
mju_copy(d->qpos, m->qpos_spring, m->nq);
mj_kinematics(m, d);
mj_comPos(m, d);
mj_tendon(m, d);
mj_transmission(m, d);
// copy if model spring length is -1
for (int i=0; i < m->ntendon; i++) {
if (m->tendon_lengthspring[2*i] == -1 && m->tendon_lengthspring[2*i+1] == -1) {
// explicit springlength unused, set equal to ten_length
m->tendon_lengthspring[2*i] = m->tendon_lengthspring[2*i+1] = d->ten_length[i];
}
}
}
// entry point: set all remaining constant fields of mjModel, except for lengthrange
void mj_setConst(mjModel* m, mjData* d) {
// set fixed quantities
setFixed(m, d);
// set quantities that depend on qpos0
set0(m, d);
// compute statistics
setStat(m, d);
// set quantities that depend qpos_spring
setSpring(m, d);
}
//----------------------------- actuator length range computation ----------------------------------
// evaluate actuator length, advance special dynamics
static mjtNum evalAct(const mjModel* m, mjData* d, int index, int side,
const mjLROpt* opt) {
int nv = m->nv;
// reduce velocity
mju_scl(d->qvel, d->qvel, mju_exp(-m->opt.timestep/mjMAX(0.01, opt->timeconst)), nv);
// step1: compute inertia and actuator moments
mj_step1(m, d);
// dense actuator_moment row
mj_markStack(d);
mjtNum* moment = mjSTACKALLOC(d, nv, mjtNum);
mju_sparse2dense(moment, d->actuator_moment, 1, nv, d->moment_rownnz + index,
d->moment_rowadr + index, d->moment_colind);
// set force to generate desired acceleration
mj_solveM(m, d, d->qfrc_applied, moment, 1);
mjtNum nrm = mju_norm(d->qfrc_applied, nv);
mju_scl(d->qfrc_applied, moment, (2*side-1)*opt->accel/mjMAX(mjMINVAL, nrm), nv);
// impose maxforce
nrm = mju_norm(d->qfrc_applied, nv);
if (opt->maxforce > 0 && nrm > opt->maxforce) {
mju_scl(d->qfrc_applied, d->qfrc_applied, opt->maxforce/mjMAX(mjMINVAL, nrm), nv);
}
// step2: apply force
mj_step2(m, d);
mj_freeStack(d);
// return actuator length
return d->actuator_length[index];
}
// Set length range for specified actuator, return 1 if ok, 0 if error.
int mj_setLengthRange(mjModel* m, mjData* d, int index,
const mjLROpt* opt, char* error, int error_sz) {
// check index
if (index < 0 || index >= m->nu) {
mjERROR("invalid actuator index");
}
// skip depending on mode and type
int ismuscle = (m->actuator_gaintype[index] == mjGAIN_MUSCLE ||
m->actuator_biastype[index] == mjBIAS_MUSCLE);
int isuser = (m->actuator_gaintype[index] == mjGAIN_USER ||
m->actuator_biastype[index] == mjBIAS_USER);
if ((opt->mode == mjLRMODE_NONE) ||
(opt->mode == mjLRMODE_MUSCLE && !ismuscle) ||
(opt->mode == mjLRMODE_MUSCLEUSER && !ismuscle && !isuser)) {
return 1;
}
// use existing length range if available
if (opt->useexisting && (m->actuator_lengthrange[2*index] < m->actuator_lengthrange[2*index+1])) {
return 1;
}
// get transmission id
int threadid = m->actuator_trnid[index];
// use joint and tendon limits if available
if (opt->uselimit) {
// joint or jointinparent
if (m->actuator_trntype[index] == mjTRN_JOINT ||
m->actuator_trntype[index] == mjTRN_JOINTINPARENT) {
// make sure joint is limited
if (m->jnt_limited[threadid]) {
// copy range
m->actuator_lengthrange[2*index] = m->jnt_range[2*threadid];
m->actuator_lengthrange[2*index+1] = m->jnt_range[2*threadid+1];
// skip optimization
return 1;
}
}
// tendon
if (m->actuator_trntype[index] == mjTRN_TENDON) {
// make sure tendon is limited
if (m->tendon_limited[threadid]) {
// copy range
m->actuator_lengthrange[2*index] = m->tendon_range[2*threadid];
m->actuator_lengthrange[2*index+1] = m->tendon_range[2*threadid+1];
// skip optimization
return 1;
}
}
}
// optimize in both directions
mjtNum lmin[2] = {0, 0}, lmax[2] = {0, 0};
int side;
for (side=0; side < 2; side++) {
// init at qpos0
mj_resetData(m, d);
// simulate
int updated = 0;
while (d->time < opt->inttotal) {
// advance and get length
mjtNum len = evalAct(m, d, index, side, opt);
// reset: cannot proceed
if (d->time == 0) {
snprintf(error, error_sz, "Unstable lengthrange simulation in actuator %d", index);
return 0;
}
// update limits
if (d->time > opt->inttotal-opt->interval) {
if (len < lmin[side] || !updated) {
lmin[side] = len;
}
if (len > lmax[side] || !updated) {
lmax[side] = len;
}
updated = 1;
}
}
// assign
m->actuator_lengthrange[2*index+side] = (side == 0 ? lmin[side] : lmax[side]);
}
// check range
mjtNum dif = m->actuator_lengthrange[2*index+1] - m->actuator_lengthrange[2*index];
if (dif <= 0) {
snprintf(error, error_sz,
"Invalid lengthrange (%g, %g) in actuator %d",
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1], index);
return 0;
}
// check convergence, side 0
if (lmax[0]-lmin[0] > opt->tolrange*dif) {
snprintf(error, error_sz,
"Lengthrange computation did not converge in actuator %d:\n"
" eval (%g, %g)\n range (%g, %g)",
index, lmin[0], lmax[0],
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1]);
return 0;
}
// check convergence, side 1
if (lmax[1]-lmin[1] > opt->tolrange*dif) {
snprintf(error, error_sz,
"Lengthrange computation did not converge in actuator %d:\n"
" eval (%g, %g)\n range (%g, %g)",
index, lmin[1], lmax[1],
m->actuator_lengthrange[2*index],
m->actuator_lengthrange[2*index+1]);
return 0;
}
return 1;
}
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