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Update Solid and Shell plugins to use FlexComp.

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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
This commit is contained in:
Alessio Quaglino
2023-10-16 03:02:14 -07:00
committed by Copybara-Service
parent 93d1c3c92e
commit 110ade1435
26 changed files with 1988 additions and 177 deletions
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plugin/elasticity/elasticity.h
+15 -8
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@@ -31,20 +31,27 @@ struct PairHash
}
};
inline mjtNum SquaredDist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
return dif[0]*dif[0] + dif[1]*dif[1] + dif[2]*dif[2];
}
inline void UpdateSquaredLengths(std::vector<mjtNum>& len,
const std::vector<std::pair<int, int> >& edges,
const mjtNum* x) {
for (int e = 0; e < len.size(); e++) {
const mjtNum* p0 = x + 3*edges[e].first;
const mjtNum* p1 = x + 3*edges[e].second;
len[e] = SquaredDist3(p0, p1);
}
}
// copied from mjXUtil
void String2Vector(const std::string& txt, std::vector<int>& vec);
// reads numeric attributes
bool CheckAttr(const char* name, const mjModel* m, int instance);
// Cartesian distance between 3D vectors
mjtNum SquaredDist3(const mjtNum pos1[3], const mjtNum pos2[3]);
// updates square lengths of edges
void UpdateSquaredLengths(std::vector<mjtNum>& len,
const std::vector<std::pair<int, int> >& edges,
const mjtNum* x);
} // namespace mujoco::plugin::elasticity
#endif // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_