Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
This commit is contained in:
Saran Tunyasuvunakool
committed by
Copybara-Service
Copybara-Service
parent
0e5d062302
commit
1913a02b40
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// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "user/user_util.h"
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#include <cmath>
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#include <cstddef>
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#include <cstdio>
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#include <limits>
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#include <string>
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#include <mujoco/mjmodel.h>
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#include "engine/engine_file.h"
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#include "engine/engine_macro.h"
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#include "engine/engine_util_errmem.h"
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using std::isnan;
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using std::string;
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using std::numeric_limits;
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// set value of NAN here; needs <limits>
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const double mjNAN = numeric_limits<double>::quiet_NaN();
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// check if numeric variable is defined
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bool mjuu_defined(const double num) {
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return !isnan(num);
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}
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// compute address of M[g1][g2] where M is triangular n-by-n
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int mjuu_matadr(int g1, int g2, const int n) {
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if (g1<0 || g2<0 || g1>=n || g2>=n) {
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return -1;
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}
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if (g1>g2) {
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int tmp = g1;
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g1 = g2;
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g2 = tmp;
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}
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return g1*n + g2;
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}
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// set 4D vector
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void mjuu_setvec(double* dest, const double x, const double y, const double z, const double w) {
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dest[0] = x;
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dest[1] = y;
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dest[2] = z;
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dest[3] = w;
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}
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void mjuu_setvec(float* dest, const double x, const double y, const double z, const double w) {
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dest[0] = (float)x;
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dest[1] = (float)y;
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dest[2] = (float)z;
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dest[3] = (float)w;
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}
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// set 3D vector
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void mjuu_setvec(double* dest, const double x, const double y, const double z) {
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dest[0] = x;
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dest[1] = y;
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dest[2] = z;
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}
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void mjuu_setvec(float* dest, const double x, const double y, const double z) {
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dest[0] = (float)x;
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dest[1] = (float)y;
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dest[2] = (float)z;
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}
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// set 2D vector
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void mjuu_setvec(double* dest, const double x, const double y) {
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dest[0] = x;
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dest[1] = y;
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}
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// copy double array
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void mjuu_copyvec(double* dest, const double* src, const int n) {
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for (int i=0; i<n; i++) {
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dest[i] = src[i];
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}
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}
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// copy float array
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void mjuu_copyvec(float* dest, const float* src, const int n) {
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for (int i=0; i<n; i++) {
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dest[i] = src[i];
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}
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}
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// zero double array
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void mjuu_zerovec(double* dest, const int n) {
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for (int i=0; i<n; i++) {
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dest[i] = 0;
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}
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}
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// dot-product in 3D
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double mjuu_dot3(const double* a, const double* b) {
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return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
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}
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// distance beween 3D points
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double mjuu_dist3(const double* a, const double* b) {
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return sqrt((a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]));
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}
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// L1 norm between vectors
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double mjuu_L1(const double* a, const double* b, int n) {
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double res = 0;
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for (int i=0; i<n; i++) {
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res += fabs(a[i]-b[i]);
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}
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return res;
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}
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// normalize vector to unit length, return previous length
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double mjuu_normvec(double* vec, const int n) {
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double nrm = 0;
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int i;
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for (i=0; i<n; i++) {
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nrm += vec[i]*vec[i];
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}
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if (nrm < mjEPS) {
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return 0;
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}
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nrm = sqrt(nrm);
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for (i=0; i<n; i++) {
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vec[i] /= nrm;
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}
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return nrm;
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}
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// convert quaternion to rotation matrix
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void mjuu_quat2mat(double* res, const double* quat) {
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double q00 = quat[0]*quat[0];
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double q11 = quat[1]*quat[1];
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double q22 = quat[2]*quat[2];
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double q33 = quat[3]*quat[3];
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res[0] = q00 + q11 - q22 - q33;
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res[4] = q00 - q11 + q22 - q33;
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res[8] = q00 - q11 - q22 + q33;
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res[1] = 2*(quat[1]*quat[2] - quat[0]*quat[3]);
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res[2] = 2*(quat[1]*quat[3] + quat[0]*quat[2]);
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res[3] = 2*(quat[1]*quat[2] + quat[0]*quat[3]);
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res[5] = 2*(quat[2]*quat[3] - quat[0]*quat[1]);
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res[6] = 2*(quat[1]*quat[3] - quat[0]*quat[2]);
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res[7] = 2*(quat[2]*quat[3] + quat[0]*quat[1]);
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}
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// multiply two unit quaternions
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void mjuu_mulquat(double* res, const double* qa, const double* qb) {
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res[0] = qa[0]*qb[0] - qa[1]*qb[1] - qa[2]*qb[2] - qa[3]*qb[3];
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res[1] = qa[0]*qb[1] + qa[1]*qb[0] + qa[2]*qb[3] - qa[3]*qb[2];
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res[2] = qa[0]*qb[2] - qa[1]*qb[3] + qa[2]*qb[0] + qa[3]*qb[1];
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res[3] = qa[0]*qb[3] + qa[1]*qb[2] - qa[2]*qb[1] + qa[3]*qb[0];
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mjuu_normvec(res, 4);
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}
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// multiply vector by 3-by-3 matrix
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void mjuu_mulvecmat(double* res, const double* vec, const double* mat) {
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res[0] = mat[0]*vec[0] + mat[1]*vec[1] + mat[2]*vec[2];
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res[1] = mat[3]*vec[0] + mat[4]*vec[1] + mat[5]*vec[2];
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res[2] = mat[6]*vec[0] + mat[7]*vec[1] + mat[8]*vec[2];
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}
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// compute res = R * M * R'
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void mjuu_mulRMRT(double* res, const double* R, const double* M) {
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double tmp[9];
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// tmp = R*M
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tmp[0] = R[0]*M[0] + R[1]*M[3] + R[2]*M[6];
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tmp[1] = R[0]*M[1] + R[1]*M[4] + R[2]*M[7];
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tmp[2] = R[0]*M[2] + R[1]*M[5] + R[2]*M[8];
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tmp[3] = R[3]*M[0] + R[4]*M[3] + R[5]*M[6];
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tmp[4] = R[3]*M[1] + R[4]*M[4] + R[5]*M[7];
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tmp[5] = R[3]*M[2] + R[4]*M[5] + R[5]*M[8];
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tmp[6] = R[6]*M[0] + R[7]*M[3] + R[8]*M[6];
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tmp[7] = R[6]*M[1] + R[7]*M[4] + R[8]*M[7];
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tmp[8] = R[6]*M[2] + R[7]*M[5] + R[8]*M[8];
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// res = tmp*R'
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res[0] = tmp[0]*R[0] + tmp[1]*R[1] + tmp[2]*R[2];
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res[1] = tmp[0]*R[3] + tmp[1]*R[4] + tmp[2]*R[5];
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res[2] = tmp[0]*R[6] + tmp[1]*R[7] + tmp[2]*R[8];
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res[3] = tmp[3]*R[0] + tmp[4]*R[1] + tmp[5]*R[2];
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res[4] = tmp[3]*R[3] + tmp[4]*R[4] + tmp[5]*R[5];
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res[5] = tmp[3]*R[6] + tmp[4]*R[7] + tmp[5]*R[8];
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res[6] = tmp[6]*R[0] + tmp[7]*R[1] + tmp[8]*R[2];
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res[7] = tmp[6]*R[3] + tmp[7]*R[4] + tmp[8]*R[5];
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res[8] = tmp[6]*R[6] + tmp[7]*R[7] + tmp[8]*R[8];
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}
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// multiply two matrices, all 3-by-3
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void mjuu_mulmat(double* res, const double* A, const double* B) {
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res[0] = A[0]*B[0] + A[1]*B[3] + A[2]*B[6];
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res[1] = A[0]*B[1] + A[1]*B[4] + A[2]*B[7];
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res[2] = A[0]*B[2] + A[1]*B[5] + A[2]*B[8];
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res[3] = A[3]*B[0] + A[4]*B[3] + A[5]*B[6];
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res[4] = A[3]*B[1] + A[4]*B[4] + A[5]*B[7];
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res[5] = A[3]*B[2] + A[4]*B[5] + A[5]*B[8];
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res[6] = A[6]*B[0] + A[7]*B[3] + A[8]*B[6];
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res[7] = A[6]*B[1] + A[7]*B[4] + A[8]*B[7];
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res[8] = A[6]*B[2] + A[7]*B[5] + A[8]*B[8];
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}
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// transpose 3-by-3 matrix
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void mjuu_transposemat(double* res, const double* mat) {
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res[0] = mat[0];
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res[3] = mat[1];
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res[6] = mat[2];
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res[1] = mat[3];
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res[4] = mat[4];
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res[7] = mat[5];
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res[2] = mat[6];
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res[5] = mat[7];
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res[8] = mat[8];
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}
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// convert global to local axis relative to given frame
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void mjuu_localaxis(double* al, const double* ag, const double* quat) {
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double mat[9];
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double qneg[4] = {quat[0], -quat[1], -quat[2], -quat[3]};
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mjuu_quat2mat(mat, qneg);
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mjuu_mulvecmat(al, ag, mat);
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}
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// convert global to local position relative to given frame
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void mjuu_localpos(double* pl, const double* pg, const double* pos, const double* quat) {
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double a[3] = {pg[0]-pos[0], pg[1]-pos[1], pg[2]-pos[2]};
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mjuu_localaxis(pl, a, quat);
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}
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// compute quaternion rotation from parent to child
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void mjuu_localquat(double* local, const double* child, const double* parent) {
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double pneg[4] = {parent[0], -parent[1], -parent[2], -parent[3]};
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mjuu_mulquat(local, pneg, child);
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}
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// compute vector cross-product a = b x c
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void mjuu_crossvec(double* a, const double* b, const double* c) {
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a[0] = b[1]*c[2] - b[2]*c[1];
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a[1] = b[2]*c[0] - b[0]*c[2];
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a[2] = b[0]*c[1] - b[1]*c[0];
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}
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// compute normal vector to given triangle, return length
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double mjuu_makenormal(double* normal, const float* a, const float* b, const float* c) {
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double v1[3] = {b[0]-a[0], b[1]-a[1], b[2]-a[2]};
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double v2[3] = {c[0]-a[0], c[1]-a[1], c[2]-a[2]};
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double res;
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mjuu_crossvec(normal, v1, v2);
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if ((res=mjuu_normvec(normal, 3)) < mjEPS) {
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normal[0] = normal[1] = 0;
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normal[2] = 1;
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}
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return res;
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}
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// compute quaternion as minimal rotation from [0;0;1] to vec
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void mjuu_z2quat(double* quat, const double* vec) {
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double z[3] = {0, 0, 1};
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mjuu_crossvec(quat+1, z, vec);
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double s = mjuu_normvec(quat+1, 3);
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if (s<1E-10) {
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quat[1] = 1;
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quat[2] = quat[3] = 0;
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}
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double ang = atan2(s, vec[2]);
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quat[0] = cos(ang/2);
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quat[1] *= sin(ang/2);
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quat[2] *= sin(ang/2);
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quat[3] *= sin(ang/2);
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}
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// compute quaternion given frame (axes are in matrix columns)
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void mjuu_frame2quat(double* quat, const double* x, const double* y, const double* z) {
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const double* mat[3] = {x, y, z}; // mat[c][r] indexing
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// q0 largest
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if (mat[0][0]+mat[1][1]+mat[2][2]>0) {
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quat[0] = 0.5 * sqrt(1 + mat[0][0] + mat[1][1] + mat[2][2]);
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quat[1] = 0.25 * (mat[1][2] - mat[2][1]) / quat[0];
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quat[2] = 0.25 * (mat[2][0] - mat[0][2]) / quat[0];
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quat[3] = 0.25 * (mat[0][1] - mat[1][0]) / quat[0];
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}
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// q1 largest
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else if (mat[0][0]>mat[1][1] && mat[0][0]>mat[2][2]) {
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quat[1] = 0.5 * sqrt(1 + mat[0][0] - mat[1][1] - mat[2][2]);
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quat[0] = 0.25 * (mat[1][2] - mat[2][1]) / quat[1];
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quat[2] = 0.25 * (mat[1][0] + mat[0][1]) / quat[1];
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quat[3] = 0.25 * (mat[2][0] + mat[0][2]) / quat[1];
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}
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// q2 largest
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else if (mat[1][1]>mat[2][2]) {
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quat[2] = 0.5 * sqrt(1 - mat[0][0] + mat[1][1] - mat[2][2]);
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quat[0] = 0.25 * (mat[2][0] - mat[0][2]) / quat[2];
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quat[1] = 0.25 * (mat[1][0] + mat[0][1]) / quat[2];
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quat[3] = 0.25 * (mat[2][1] + mat[1][2]) / quat[2];
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}
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// q3 largest
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else {
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quat[3] = 0.5 * sqrt(1 - mat[0][0] - mat[1][1] + mat[2][2]);
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quat[0] = 0.25 * (mat[0][1] - mat[1][0]) / quat[3];
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quat[1] = 0.25 * (mat[2][0] + mat[0][2]) / quat[3];
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quat[2] = 0.25 * (mat[2][1] + mat[1][2]) / quat[3];
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}
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mjuu_normvec(quat, 4);
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}
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// invert frame transformation
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void mjuu_frameinvert(double* newpos, double* newquat,
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const double* oldpos, const double* oldquat) {
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// position
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mjuu_localaxis(newpos, oldpos, oldquat);
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newpos[0] = -newpos[0];
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newpos[1] = -newpos[1];
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newpos[2] = -newpos[2];
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// orientation
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newquat[0] = oldquat[0];
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newquat[1] = -oldquat[1];
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newquat[2] = -oldquat[2];
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newquat[3] = -oldquat[3];
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}
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// accumulate frame transformations (forward kinematics)
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void mjuu_frameaccum(double* pos, double* quat,
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const double* addpos, const double* addquat) {
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double mat[9], vec[3], qtmp[4];
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mjuu_quat2mat(mat, quat);
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mjuu_mulvecmat(vec, addpos, mat);
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pos[0] += vec[0];
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pos[1] += vec[1];
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pos[2] += vec[2];
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mjuu_mulquat(qtmp, quat, addquat);
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mjuu_copyvec(quat, qtmp, 4);
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}
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// invert frame accumulation
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void mjuu_frameaccuminv(double* pos, double* quat,
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const double* addpos, const double* addquat) {
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double mat[9], vec[3], qtmp[4];
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double qneg[4] = {addquat[0], -addquat[1], -addquat[2], -addquat[3]};
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mjuu_mulquat(qtmp, quat, qneg);
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mjuu_copyvec(quat, qtmp, 4);
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mjuu_quat2mat(mat, quat);
|
||||
mjuu_mulvecmat(vec, addpos, mat);
|
||||
pos[0] -= vec[0];
|
||||
pos[1] -= vec[1];
|
||||
pos[2] -= vec[2];
|
||||
}
|
||||
|
||||
|
||||
// convert local_inertia[3] to global_inertia[6]
|
||||
void mjuu_globalinertia(double* global, const double* local, const double* quat) {
|
||||
double mat[9];
|
||||
mjuu_quat2mat(mat, quat);
|
||||
|
||||
double tmp[9] = {
|
||||
mat[0]*local[0], mat[3]*local[0], mat[6]*local[0],
|
||||
mat[1]*local[1], mat[4]*local[1], mat[7]*local[1],
|
||||
mat[2]*local[2], mat[5]*local[2], mat[8]*local[2]
|
||||
};
|
||||
|
||||
global[0] = mat[0]*tmp[0] + mat[1]*tmp[3] + mat[2]*tmp[6];
|
||||
global[1] = mat[3]*tmp[1] + mat[4]*tmp[4] + mat[5]*tmp[7];
|
||||
global[2] = mat[6]*tmp[2] + mat[7]*tmp[5] + mat[8]*tmp[8];
|
||||
global[3] = mat[0]*tmp[1] + mat[1]*tmp[4] + mat[2]*tmp[7];
|
||||
global[4] = mat[0]*tmp[2] + mat[1]*tmp[5] + mat[2]*tmp[8];
|
||||
global[5] = mat[3]*tmp[2] + mat[4]*tmp[5] + mat[5]*tmp[8];
|
||||
}
|
||||
|
||||
|
||||
// compute off-center correction to inertia matrix
|
||||
// mass * [y^2+z^2, -x*y, -x*z; -x*y, x^2+z^2, -y*z; -x*z, -y*z, x^2+y^2]
|
||||
void mjuu_offcenter(double* res, const double mass, const double* vec) {
|
||||
res[0] = mass*(vec[1]*vec[1] + vec[2]*vec[2]);
|
||||
res[1] = mass*(vec[0]*vec[0] + vec[2]*vec[2]);
|
||||
res[2] = mass*(vec[0]*vec[0] + vec[1]*vec[1]);
|
||||
res[3] = -mass*vec[0]*vec[1];
|
||||
res[4] = -mass*vec[0]*vec[2];
|
||||
res[5] = -mass*vec[1]*vec[2];
|
||||
}
|
||||
|
||||
|
||||
// compute viscosity coefficients from mass and inertia
|
||||
void mjuu_visccoef(double* visccoef, double mass, const double* inertia, double scl) {
|
||||
// compute equivalent box
|
||||
double equivbox[3];
|
||||
equivbox[0] = sqrt(mjMAX(mjMINVAL, (inertia[1] + inertia[2] - inertia[0])) / mass * 6.0);
|
||||
equivbox[1] = sqrt(mjMAX(mjMINVAL, (inertia[0] + inertia[2] - inertia[1])) / mass * 6.0);
|
||||
equivbox[2] = sqrt(mjMAX(mjMINVAL, (inertia[0] + inertia[1] - inertia[2])) / mass * 6.0);
|
||||
|
||||
// apply formula for box (or rather cross) viscosity
|
||||
|
||||
// torque components
|
||||
visccoef[0] = scl * 4.0 / 3.0 * equivbox[0] *
|
||||
(equivbox[1]*equivbox[1]*equivbox[1] + equivbox[2]*equivbox[2]*equivbox[2]);
|
||||
visccoef[1] = scl * 4.0 / 3.0 * equivbox[1] *
|
||||
(equivbox[0]*equivbox[0]*equivbox[0] + equivbox[2]*equivbox[2]*equivbox[2]);
|
||||
visccoef[2] = scl * 4.0 / 3.0 * equivbox[2] *
|
||||
(equivbox[0]*equivbox[0]*equivbox[0] + equivbox[1]*equivbox[1]*equivbox[1]);
|
||||
|
||||
// force components
|
||||
visccoef[3] = scl * 4*equivbox[1]*equivbox[2];
|
||||
visccoef[4] = scl * 4*equivbox[0]*equivbox[2];
|
||||
visccoef[5] = scl * 4*equivbox[0]*equivbox[1];
|
||||
}
|
||||
|
||||
|
||||
// strip directory from filename
|
||||
string mjuu_strippath(string filename) {
|
||||
// find last pathsymbol
|
||||
size_t start = filename.find_last_of("/\\");
|
||||
|
||||
// no path found: return original
|
||||
if (start==string::npos) {
|
||||
return filename;
|
||||
}
|
||||
|
||||
// return name without path
|
||||
else {
|
||||
return filename.substr(start+1, filename.size()-start-1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// strip extension
|
||||
string mjuu_stripext(string filename) {
|
||||
// find last dot
|
||||
size_t end = filename.find_last_of('.');
|
||||
|
||||
// no path found: return original
|
||||
if (end==string::npos) {
|
||||
return filename;
|
||||
}
|
||||
|
||||
// return name without extension
|
||||
else {
|
||||
return filename.substr(0, end);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// is directory path absolute
|
||||
bool mjuu_isabspath(string path) {
|
||||
// empty: not absolute
|
||||
if (path.empty()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// check first char
|
||||
const char* str = path.c_str();
|
||||
if (str[0]=='\\' || str[0]=='/') {
|
||||
return true;
|
||||
}
|
||||
|
||||
// find ":/" or ":\"
|
||||
if (path.find(":/")!=string::npos || path.find(":\\")!=string::npos) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// get directory path of file
|
||||
string mjuu_getfiledir(string filename) {
|
||||
// no filename
|
||||
if (filename.empty()) {
|
||||
return "";
|
||||
}
|
||||
|
||||
// find last pathsymbol
|
||||
size_t last = filename.find_last_of("/\\");
|
||||
|
||||
// no pathsymbol: unknown dir
|
||||
if (last==string::npos) {
|
||||
return "";
|
||||
}
|
||||
|
||||
// extract path from filename
|
||||
return filename.substr(0, last+1);
|
||||
}
|
||||
|
||||
|
||||
// assemble full filename
|
||||
string mjuu_makefullname(string filedir, string meshdir, string filename) {
|
||||
// filename has absolute path: filename
|
||||
if (mjuu_isabspath(filename)) {
|
||||
return filename;
|
||||
}
|
||||
|
||||
// meshdir has absolute path: meshdir + filename
|
||||
if (mjuu_isabspath(meshdir)) {
|
||||
return meshdir + filename;
|
||||
}
|
||||
|
||||
// default
|
||||
return filedir + meshdir + filename;
|
||||
}
|
||||
Reference in New Issue
Block a user