Saran Tunyasuvunakool
58fd72f53d
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena. - Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites. - Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility). - Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end. PiperOrigin-RevId: 479341539 Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
106 lines
3.4 KiB
C++
106 lines
3.4 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_PYTHON_MJDATA_META_H_
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#define MUJOCO_PYTHON_MJDATA_META_H_
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#include <mujoco/mujoco.h>
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#include <mujoco/mjxmacro.h>
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#include "raw.h"
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#include "util/crossplatform.h"
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namespace mujoco::python {
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namespace _impl {
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template <typename T> class MjWrapper;
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} // namespace _impl
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#define MJDATA_METADATA \
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X( int, jnt_qposadr, njnt ) \
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X( int, jnt_dofadr, njnt ) \
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X( int, hfield_nrow, nhfield ) \
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X( int, hfield_ncol, nhfield ) \
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X( int, hfield_adr, nhfield ) \
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X( int, tex_height, ntex ) \
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X( int, tex_width, ntex ) \
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X( int, tex_adr, ntex ) \
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X( int, sensor_dim, nsensor ) \
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X( int, sensor_adr, nsensor ) \
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X( int, numeric_adr, nnumeric ) \
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X( int, numeric_size, nnumeric ) \
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X( int, tuple_adr, ntuple ) \
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X( int, tuple_size, ntuple ) \
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X( int, name_bodyadr, nbody ) \
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X( int, name_jntadr, njnt ) \
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X( int, name_geomadr, ngeom ) \
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X( int, name_siteadr, nsite ) \
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X( int, name_camadr, ncam ) \
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X( int, name_lightadr, nlight ) \
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X( int, name_meshadr, nmesh ) \
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X( int, name_skinadr, nskin ) \
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X( int, name_hfieldadr, nhfield ) \
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X( int, name_texadr, ntex ) \
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X( int, name_matadr, nmat ) \
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X( int, name_pairadr, npair ) \
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X( int, name_excludeadr, nexclude ) \
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X( int, name_eqadr, neq ) \
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X( int, name_tendonadr, ntendon ) \
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X( int, name_actuatoradr, nu ) \
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X( int, name_sensoradr, nsensor ) \
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X( int, name_numericadr, nnumeric ) \
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X( int, name_textadr, ntext ) \
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X( int, name_tupleadr, ntuple ) \
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X( int, name_keyadr, nkey ) \
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X( char, names, nnames )
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// A subset of mjModel fields that are required to reconstruct an MjDataWrapper.
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struct MjDataMetadata {
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public:
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friend class _impl::MjWrapper<raw::MjData>;
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#define X(var) int var;
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MJMODEL_INTS
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#undef X
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#define X(type, var, n) std::shared_ptr<type[]> var;
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MJDATA_METADATA
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#undef X
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bool is_dual;
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private:
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MjDataMetadata() = default;
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MjDataMetadata(const MjDataMetadata& other) = default;
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MjDataMetadata(MjDataMetadata&& other) = default;
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explicit MjDataMetadata(const raw::MjModel* m)
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:
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#define X(var) var(m->var),
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MJMODEL_INTS
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#undef X
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#define X(dtype, var, n) \
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var( \
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[](dtype* src, int len) { \
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dtype* dst = new dtype[len]; \
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std::memcpy(dst, src, len * sizeof(dtype)); \
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return dst; \
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}(m->var, m->n)),
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MJDATA_METADATA
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#undef X
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is_dual(mj_isDual(m)) {}
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};
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} // namespace mujoco::python
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#endif // MUJOCO_PYTHON_MJDATA_META_H_
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