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Added support for GMSH22 surface loading

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PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
This commit is contained in:
Mohammad Hamid
2024-05-01 08:42:53 -07:00
committed by Copybara-Service
parent 57b1dbac65
commit 131b1745db
14 changed files with 403 additions and 42 deletions
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doc/XMLreference.rst
+4 -3
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@@ -3452,9 +3452,10 @@ saving the XML:
.. _body-flexcomp-file:
:at:`file`: :at-val:`string, optional`
The name of the file from which a **mesh** or a **gmsh** is loaded. For mesh, the file extentsion is used to
determine the file format. Supported formats are the same as in :ref:`mesh assets<asset-mesh>`. For gmsh, the file is
expected to be in GMSH format 4.1 or 2.2, ascii or binary, see :ref:`here<gmsh-file-docs>`.
The name of the file from which a **surface** (triangular) or **volumetric** (tetrahedral) mesh is loaded. For
surface meshes, the file extension is used to determine the file format. Supported formats are the same as in
:ref:`mesh assets<asset-mesh>` and also including GMSH. Volumetric meshes are supported only in GMSH format.
See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
.. _body-flexcomp-rigid:
doc/changelog.rst
+18 -17
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@@ -24,39 +24,40 @@ General
field.
4. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
to ``size_t``.
5. Added support for gmsh format version 2.2 surface meshes in :ref:`flexcomp<body-flexcomp-file>`.
MJX
^^^
.. admonition:: Breaking API changes
:class: attention
5. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
6. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
functionality.
**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
``mjx.device_put``.
6. Added cylinder plane collisions.
7. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
8. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
9. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
10. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
11. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
7. Added cylinder plane collisions.
8. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
9. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
10. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
11. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
12. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
12. Fixed a bug where capsules might be ignored in broadphase colliision checking.
13. Added cylinder collisions using SDFs.
14. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
15. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
16. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
17. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
13. Fixed a bug where capsules might be ignored in broadphase colliision checking.
14. Added cylinder collisions using SDFs.
15. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
16. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
17. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
18. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
Bug fixes
^^^^^^^^^
18. Defaults of lights were not being saved, now fixed.
19. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
20. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
19. Defaults of lights were not being saved, now fixed.
20. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
21. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
21. Fixed bug that prevented memory allocations larger than 2.15 GB.
22. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)