Allow mesh data to be reuploaded without having to recreate the mesh.

Splits mjrfMeshData into config+data parts.

PiperOrigin-RevId: 952042545
Change-Id: I19a572a0f591fa0d33bbc2c32b974efc075310f4

Author: haroonq

doc/APIreference/APItypes.rst

@@ -1452,12 +1452,22 @@ culling. Alternatively, the bounds can be computed at runtime (though there is a
 are provided (or calculated), then frustum culling will not be performed.
 
 
+.. _mjrfMeshConfig:
+
+mjrfMeshConfig
+~~~~~~~~~~~~~~~~~
+
+Parameters for creating a :ref:`mesh<mjrfMesh>`.
+
+.. mujoco-include:: mjrfMeshConfig
+
+
 .. _mjrfMeshData:
 
 mjrfMeshData
 ~~~~~~~~~~~~
 
-Binary data used for creating a :ref:`mesh<mjrfMesh>`.
+Binary data for a :ref:`mesh<mjrfMesh>`.
 
 .. mujoco-include:: mjrfMeshData
 

doc/APIreference/functions.rst

@@ -3249,14 +3249,14 @@ Returns the height of the texture.
 Returns the sampler type (mjrSamplerType) used by the texture.
 [returns: mjrSamplerType]
 
-.. _mjrf_defaultMeshData:
+.. _mjrf_defaultMeshConfig:
 
-`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`mjrf_defaultMeshConfig <#mjrf_defaultMeshConfig>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. mujoco-include:: mjrf_defaultMeshData
+.. mujoco-include:: mjrf_defaultMeshConfig
 
-Initializes the mjrfMeshData to default values.
+Initializes the mjrfMeshConfig to default values.
 
 .. _mjrf_createMesh:
 
@@ -3265,7 +3265,7 @@ Initializes the mjrfMeshData to default values.
 
 .. mujoco-include:: mjrf_createMesh
 
-Creates a mesh with the given data.
+Creates an empty mesh with the given config.
 
 .. _mjrf_destroyMesh:
 
@@ -3276,6 +3276,24 @@ Creates a mesh with the given data.
 
 Destroys the mesh.
 
+.. _mjrf_defaultMeshData:
+
+`mjrf_defaultMeshData <#mjrf_defaultMeshData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjrf_defaultMeshData
+
+Initializes the mjrfMeshData to default values.
+
+.. _mjrf_setMeshData:
+
+`mjrf_setMeshData <#mjrf_setMeshData>`__
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjrf_setMeshData
+
+Uploads the given mesh data to the mesh.
+
 .. _mjrf_defaultSceneParams:
 
 `mjrf_defaultSceneParams <#mjrf_defaultSceneParams>`__

doc/changelog.rst

@@ -66,6 +66,9 @@ Engine
    - :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only affects
      negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
    - Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
+   - Split up :ref:`mjrfMeshData` into `mjrfMeshData` and `mjrfMeshConfig` to allow reuploading of mesh data without
+     having to recreate the mesh object. Introduces :ref:`mjrfDefaultMeshConfig` and :ref:`mjrfSetMeshData` functions.
+   - Removed `bytes` field from :ref:`mjrVertexAttribute`.
 
 .. admonition:: Breaking ABI changes
    :class: caution

doc/includes/references.h

@@ -1425,7 +1425,6 @@ typedef struct mjrRendererInfo_ {  // active renderer identity
   const char* backend;             // graphics backend: opengl, vulkan; empty if uninitialized
 } mjrRendererInfo;
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
-  const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
   int type;                           // float3, ubyte4, etc. [mjrVertexAttributeType]
 } mjrVertexAttribute;
@@ -1580,15 +1579,20 @@ typedef struct mjrfTextureData_ {
   mjrfCallback release;            // callback when data has finished uploading
   void* user_data;                 // user data for release callback
 } mjrfTextureData;
-typedef struct mjrfMeshData_ {
-  mjtSize num_vertices;         // number of vertices; all vertex attributes share this size
-  int num_attributes;           // number of attributes defined
+typedef struct mjrfMeshConfig_ {
+  mjtSize max_vertices;         // maximum number of vertices
+  mjtSize max_indices;          // maximum number of indices
+  int num_attributes;           // number of defined attributes
   mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
   mjtBool interleaved;          // true if vertex attributes are interleaved
-  mjtSize num_indices;          // number of indices
-  const void* indices;          // indices data array
   int index_type;               // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
   int primitive_type;           // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
+} mjrfMeshConfig;
+typedef struct mjrfMeshData_ {
+  mjtSize num_vertices;         // number of vertices
+  const void* vertices[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute data arrays
+  mjtSize num_indices;          // number of indices
+  const void* indices;          // indices data array
   mjtBool compute_bounds;       // if true, compute bounds from vertex positions
   float bounds_min[3];          // min/max bounds; assume unset if bounds_min == bounds_max
   float bounds_max[3];
@@ -3422,9 +3426,11 @@ void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
 int mjrf_getTextureWidth(const mjrfTexture* texture);
 int mjrf_getTextureHeight(const mjrfTexture* texture);
 int mjrf_getTextureSamplerType(const mjrfTexture* texture);
-void mjrf_defaultMeshData(mjrfMeshData* data);
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshData* data);
+void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
+mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
 void mjrf_destroyMesh(mjrfMesh* mesh);
+void mjrf_defaultMeshData(mjrfMeshData* data);
+void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
 void mjrf_defaultSceneParams(mjrfSceneParams* params);
 mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
 void mjrf_destroyScene(mjrfScene* scene);

include/mujoco/mjrender.h

@@ -124,7 +124,6 @@ typedef struct mjrRendererInfo_ {  // active renderer identity
 
 
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
-  const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
   int type;                           // float3, ubyte4, etc. [mjrVertexAttributeType]
 } mjrVertexAttribute;

include/mujoco/mjrfilament.h

@@ -182,16 +182,32 @@ int mjrf_getTextureSamplerType(const mjrfTexture* texture);
 // Maximum number of vertex attributes in a mesh.
 enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
 
-// Binary data used for creating a mesh (mjrfMesh).
-typedef struct mjrfMeshData_ {
-  mjtSize num_vertices;         // number of vertices; all vertex attributes share this size
-  int num_attributes;           // number of attributes defined
+// Parameters describing a mesh (mjrfMesh).
+typedef struct mjrfMeshConfig_ {
+  mjtSize max_vertices;         // maximum number of vertices
+  mjtSize max_indices;          // maximum number of indices
+  int num_attributes;           // number of defined attributes
   mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
   mjtBool interleaved;          // true if vertex attributes are interleaved
-  mjtSize num_indices;          // number of indices
-  const void* indices;          // indices data array
   int index_type;               // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
   int primitive_type;           // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
+} mjrfMeshConfig;
+
+// Initializes the mjrfMeshConfig to default values.
+void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
+
+// Creates an empty mesh with the given config.
+mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
+
+// Destroys the mesh.
+void mjrf_destroyMesh(mjrfMesh* mesh);
+
+// Binary data used for creating a mesh (mjrfMesh).
+typedef struct mjrfMeshData_ {
+  mjtSize num_vertices;         // number of vertices
+  const void* vertices[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute data arrays
+  mjtSize num_indices;          // number of indices
+  const void* indices;          // indices data array
   mjtBool compute_bounds;       // if true, compute bounds from vertex positions
   float bounds_min[3];          // min/max bounds; assume unset if bounds_min == bounds_max
   float bounds_max[3];
@@ -202,11 +218,8 @@ typedef struct mjrfMeshData_ {
 // Initializes the mjrfMeshData to default values.
 void mjrf_defaultMeshData(mjrfMeshData* data);
 
-// Creates a mesh with the given data.
-mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshData* data);
-
-// Destroys the mesh.
-void mjrf_destroyMesh(mjrfMesh* mesh);
+// Uploads the given mesh data to the mesh.
+void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
 
 // Parameters for creating a scene (mjrfScene).
 typedef struct mjrfSceneParams_ {

python/mujoco/introspect/structs.py

@@ -11332,13 +11332,6 @@
          name='mjrVertexAttribute',
          declname='struct mjrVertexAttribute_',
          fields=(
-             StructFieldDecl(
-                 name='bytes',
-                 type=PointerType(
-                     inner_type=ValueType(name='void', is_const=True),
-                 ),
-                 doc='vertex data',
-             ),
              StructFieldDecl(
                  name='usage',
                  type=ValueType(name='int'),

python/mujoco/structs.cc

@@ -1078,7 +1078,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m,
                                                          "MjrVertexAttribute");
   mjrVertexAttribute.def(py::init([](int usage, int type) {
-                           return raw::MjrVertexAttribute{nullptr, usage, type};
+                           return raw::MjrVertexAttribute{usage, type};
                          }),
                          py::arg("usage") = 0, py::arg("type") = 0);
   mjrVertexAttribute.def("__copy__", [](const raw::MjrVertexAttribute& other) {

src/experimental/filament/compat/scene_decorator.cc

@@ -243,27 +243,35 @@ void SceneDecorator::Update(mjData* data, const mjvOption* vis_option,
         const float* uvs =
             has_uvs ? mjv_scene_.flextexcoord + (6 * addr) : nullptr;
 
+        mjrfMeshConfig config;
+        mjrf_defaultMeshConfig(&config);
+        config.num_attributes = has_uvs ? 3 : 2;
+        config.max_vertices = 3 * mjv_scene_.flexfaceused[geom.objid];
+        config.max_indices = 3 * mjv_scene_.flexfaceused[geom.objid];
+        config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
+        config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
+        config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
+        config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
+        config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
+        config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
+        config.index_type = mjINDEX_TYPE_U32;
+        config.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
+
         mjrfMeshData data;
         mjrf_defaultMeshData(&data);
-        data.num_attributes = has_uvs ? 3 : 2;
-        data.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-        data.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-        data.attributes[0].bytes = positions;
-        data.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
-        data.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-        data.attributes[1].bytes = normals;
-        data.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-        data.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-        data.attributes[2].bytes = uvs;
+        data.vertices[0] = positions;
+        data.vertices[1] = normals;
+        data.vertices[2] = uvs;
         data.num_vertices = 3 * mjv_scene_.flexfaceused[geom.objid];
         data.num_indices = 3 * mjv_scene_.flexfaceused[geom.objid];
         data.indices = nullptr;
-        data.index_type = mjINDEX_TYPE_U32;
-        data.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
         data.compute_bounds = true;
         data.release = nullptr;
         data.user_data = nullptr;
-        meshes_.push_back(CreateMesh(ctx, data));
+
+        auto mesh = CreateMesh(ctx, config);
+        mjrf_setMeshData(mesh.get(), &data);
+        meshes_.push_back(std::move(mesh));
 
         auto renderable = CreateRenderable(ctx, params);
         mjrf_setRenderableMesh(renderable.get(), meshes_.back().get(), 0, 0);

src/experimental/filament/compat/scene_objects.cc

@@ -103,8 +103,11 @@ static std::span<const int> GetIndices(const mjModel* model,
   }
 }
 
-static bool UpdateSkinFlexMeshData(mjrfMeshData* data, const mjModel* model,
-                                   const mjvScene* scene, const mjvGeom& geom) {
+SceneObjects::SceneObjects(mjrfContext* ctx) : ctx_(ctx) {}
+
+bool SceneObjects::CreateSkinFlexMesh(const mjvScene* scene,
+                                      const mjModel* model,
+                                      const mjvGeom& geom) {
   auto positions = GetPositions(model, scene, geom);
   if (positions.empty()) {
     return false;
@@ -119,41 +122,44 @@ static bool UpdateSkinFlexMeshData(mjrfMeshData* data, const mjModel* model,
     num_indices = 3 * scene->flexfaceused[geom.objid];
   }
 
-  data->num_attributes = uvs.data() ? 3 : 2;
-  data->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
-  data->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  data->attributes[0].bytes = positions.data();
-  data->attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
-  data->attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
-  data->attributes[1].bytes = normals.data();
-  data->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
-  data->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
-  data->attributes[2].bytes = uvs.data();
-  data->num_vertices = positions.size() / 3;
-  data->num_indices = num_indices;
-  data->indices = indices.data();
-  data->index_type = mjINDEX_TYPE_U32;
-  data->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-  data->compute_bounds = true;
-  data->release = nullptr;
-  data->user_data = nullptr;
-  return true;
-}
-
-SceneObjects::SceneObjects(mjrfContext* ctx) : ctx_(ctx) {}
+  mjrfMeshConfig config;
+  mjrf_defaultMeshConfig(&config);
+  config.num_attributes = uvs.data() ? 3 : 2;
+  config.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
+  config.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
+  config.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_NORMAL;
+  config.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
+  config.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
+  config.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
+  config.max_vertices = positions.size() / 3;
+  config.max_indices = num_indices;
+  config.index_type = mjINDEX_TYPE_U32;
+  config.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
 
-bool SceneObjects::CreateSkinFlexMesh(const mjvScene* scene,
-                                      const mjModel* model,
-                                      const mjvGeom& geom) {
   mjrfMeshData data;
   mjrf_defaultMeshData(&data);
-  if (!UpdateSkinFlexMeshData(&data, model, scene, geom)) {
-    return false;
-  }
+  data.vertices[0] = positions.data();
+  data.vertices[1] = normals.data();
+  data.vertices[2] = uvs.data();
+  data.num_vertices = positions.size() / 3;
+  data.num_indices = num_indices;
+  data.indices = indices.data();
+  data.compute_bounds = true;
+  data.release = nullptr;
+  data.user_data = nullptr;
+
   if (geom.type == mjGEOM_FLEX) {
-    flexes_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
+    auto iter = flexes_.find(geom.objid);
+    if (iter == flexes_.end()) {
+      iter = flexes_.insert({geom.objid, CreateMesh(ctx_, config)}).first;
+    }
+    mjrf_setMeshData(iter->second.get(), &data);
   } else if (geom.type == mjGEOM_SKIN) {
-    skins_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
+    auto iter = skins_.find(geom.objid);
+    if (iter == skins_.end()) {
+      iter = skins_.insert({geom.objid, CreateMesh(ctx_, config)}).first;
+    }
+    mjrf_setMeshData(iter->second.get(), &data);
   } else {
     mju_error("Unsupported dynamic mesh type: %d", geom.type);
   }