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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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src/user/user_composite.cc
+13 -10
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@@ -370,7 +370,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
};
for (int s = 0; s < 6; s++) {
for (int v = 0; v < 4; v++) {
face.push_back(vert[cube2tets[s][v]]+1);
face.push_back(vert[cube2tets[s][v]]);
}
}
}
@@ -388,7 +388,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
};
for (int s = 0; s < 2; s++) {
for (int v = 0; v < 3; v++) {
face.push_back(vert[quad2tri[s][v]]+1);
face.push_back(vert[quad2tri[s][v]]);
}
}
}
@@ -398,6 +398,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
} else {
dim = 2; // can only load a surface for now
mjXUtil::String2Vector(userface, face);
for (int i=0; i<face.size(); face[i++]--) {};
mjXUtil::Vector2String(userface, face);
}
// compute volume
@@ -414,13 +416,13 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
mjtNum edge2[3];
for (int i=0; i<3; i++) {
edge1[i] = uservert[3*(face[3*j+1]-1)+i] - uservert[3*(face[3*j]-1)+i];
edge2[i] = uservert[3*(face[3*j+2]-1)+i] - uservert[3*(face[3*j]-1)+i];
edge1[i] = uservert[3*face[3*j+1]+i] - uservert[3*face[3*j]+i];
edge2[i] = uservert[3*face[3*j+2]+i] - uservert[3*face[3*j]+i];
}
mjuu_crossvec(area, edge1, edge2);
for (int i=0; i<3; i++) {
volume[face[3*j+i]-1] += sqrt(mjuu_dot3(area, area)) / 2 * t;
volume[face[3*j+i]] += sqrt(mjuu_dot3(area, area)) / 2 * t;
}
}
} else {
@@ -489,6 +491,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
}
b->plugin_instance->config_attribs["face"] = userface;
b->plugin_instance->config_attribs["edge"] = "";
// update density
if (dim == 2) {
@@ -505,8 +508,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
// create edges
for (int i=0; i<face.size()/3; i++) {
for (int j=0; j<3; j++) {
int v0 = face[3*i+(j+0)%3]-1;
int v1 = face[3*i+(j+1)%3]-1;
int v0 = face[3*i+(j+0)%3];
int v1 = face[3*i+(j+1)%3];
edge.push_back(v0 < v1 ? std::pair(v0, v1) : std::pair(v1, v0));
}
}
@@ -1271,9 +1274,9 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
for (int i=0; i<face.size()/3; i++) {
skin->face.push_back(j*nvert+face[3*i]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 1 : 2)]-1);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 2 : 1)]-1);
skin->face.push_back(j*nvert+face[3*i]);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 1 : 2)]);
skin->face.push_back(j*nvert+face[3*i+(j==0 ? 2 : 1)]);
}
}