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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/xml/xml_native_reader.cc
+30 -9
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@@ -78,7 +78,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 223;
static const int nMJCF = 227;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -293,25 +293,31 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"flexcomp", "*", "26", "name", "class", "type", "dim", "flatskin",
{"flexcomp", "*", "25", "name", "class", "type", "group", "dim",
"count", "spacing", "radius", "rigid", "mass", "inertiabox",
"scale", "file", "point", "element", "texcoord", "material", "rgba", "selfcollide",
"scale", "file", "point", "element", "texcoord", "material", "rgba",
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler"},
{"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
{"contact", "?", "10", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
{"pin", "*", "4", "id", "range", "grid", "gridrange"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{">"},
{"deformable", "*", "0"},
{"<"},
{"flex", "*", "12", "name", "group", "dim", "radius", "material", "rgba", "flatskin",
"selfcollide", "body", "vertex", "element", "texcoord"},
{"flex", "*", "11", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord"},
{"<"},
{"contact", "?", "10", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
{"edge", "?", "2", "stiffness", "damping"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
@@ -2366,6 +2372,21 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjCBody* pbody) {
epin = epin->NextSiblingElement("pin");
}
// plugin
XMLElement* eplugin = elem->FirstChildElement("plugin");
if (eplugin) {
ReadAttrTxt(eplugin, "plugin", fcomp.plugin_name);
ReadAttrTxt(eplugin, "instance", fcomp.plugin_instance_name);
if (fcomp.plugin_instance_name.empty()) {
fcomp.plugin_instance = model->AddPlugin();
fcomp.plugin_instance->name = "flexcomp_" + fcomp.name;
fcomp.plugin_instance_name = fcomp.plugin_instance->name;
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(eplugin, fcomp.plugin_instance);
}
// make flexcomp
char error[200];
bool res = fcomp.Make(pbody->model, pbody, error, 200);