Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/user/user_composite.h

@@ -0,0 +1,106 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_USER_USER_COMPOSITE_H_
+#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include <mujoco/mjmodel.h>
+#include "user/user_model.h"
+#include "user/user_objects.h"
+
+typedef enum _mjtCompType {
+  mjCOMPTYPE_PARTICLE = 0,
+  mjCOMPTYPE_GRID,
+  mjCOMPTYPE_ROPE,
+  mjCOMPTYPE_LOOP,
+  mjCOMPTYPE_CLOTH,
+  mjCOMPTYPE_BOX,
+  mjCOMPTYPE_CYLINDER,
+  mjCOMPTYPE_ELLIPSOID,
+
+  mjNCOMPTYPES
+} mjtCompType;
+
+
+typedef enum _mjtCompKind {
+  mjCOMPKIND_JOINT = 0,
+  mjCOMPKIND_TWIST,
+  mjCOMPKIND_STRETCH,
+  mjCOMPKIND_TENDON,
+  mjCOMPKIND_SHEAR,
+
+  mjNCOMPKINDS
+} mjtCompKind;
+
+
+class mjCComposite {
+ public:
+  mjCComposite(void);
+
+  void SetDefault(void);
+  void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
+
+  bool Make(mjCModel* model, mjCBody* body, char* error, int error_sz);
+
+  bool MakeParticle(mjCModel* model, mjCBody* body, char* error, int error_sz);
+  bool MakeGrid(mjCModel* model, mjCBody* body, char* error, int error_sz);
+  bool MakeRope(mjCModel* model, mjCBody* body, char* error, int error_sz);
+  bool MakeCloth(mjCModel* model, mjCBody* body, char* error, int error_sz);
+  bool MakeBox(mjCModel* model, mjCBody* body, char* error, int error_sz);
+
+  void MakeShear(mjCModel* model);
+  void MakeSkin2(mjCModel* model);
+  void MakeSkin2Subgrid(mjCModel* model);
+
+  void MakeSkin3(mjCModel* model);
+  void MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
+  void MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
+                       const std::map<std::string, int>& vmap, const char* format);
+  mjCBody* AddClothBody(mjCModel* model, mjCBody* body, int ix, int iy, int ix1, int iy1);
+  mjCBody* AddRopeBody(mjCModel* model, mjCBody* body, int ix, int ix1);
+
+  void BoxProject(double* pos);
+
+  // common properties
+  std::string prefix;             // name prefix
+  mjtCompType type;               // composite type
+  int count[3];                   // geom count in each dimension
+  double spacing;                 // spacing between elements
+  double offset[3];               // position offset for particle and grid
+  std::vector<int> pin;           // pin elements of grid (do not create main joint)
+  double flatinertia;             // flatten ineria of cloth elements; 0: disable
+  mjtNum solrefsmooth[mjNREF];    // solref for smoothing equality
+  mjtNum solimpsmooth[mjNIMP];    // solimp for smoothing equality
+
+  // skin
+  bool skin;                      // generate skin
+  bool skintexcoord;              // generate texture coordinates
+  std::string skinmaterial;       // skin material
+  float skinrgba[4];              // skin rgba
+  float skininflate;              // inflate skin
+  int skinsubgrid;                // number of skin subgrid points; 0: none (2D only)
+
+  // element options
+  bool add[mjNCOMPKINDS];         // add element
+  mjCDef def[mjNCOMPKINDS];       // defaults
+
+  // computed internally
+  int dim;                        // dimensionality
+};
+
+#endif  // MUJOCO_SRC_USER_USER_COMPOSITE_H_