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Add mjmGeom to C API.

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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
This commit is contained in:
Alessio Quaglino
2024-02-08 06:51:44 -08:00
committed by Copybara-Service
parent 3baab3784a
commit 1fe258fb60
14 changed files with 384 additions and 276 deletions
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src/user/user_init.cc
+35 -4
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@@ -19,14 +19,14 @@
#include "user/user_util.h"
// Default body parameters
// default body attributes
void mjm_defaultBody(mjmBody& body) {
memset(&body, 0, sizeof(mjmBody));
// set non-zero defaults
body.fullinertia[0] = mjNAN;
body.explicitinertial = (mjtByte)false;
body.mocap = (mjtByte)false;
body.explicitinertial = 0;
body.mocap = 0;
body.quat[0] = 1;
body.iquat[0] = 1;
body.pos[0] = mjNAN;
@@ -38,8 +38,39 @@ void mjm_defaultBody(mjmBody& body) {
}
// default geom attributes
MJAPI void mjm_defaultGeom(mjmGeom& geom) {
memset(&geom, 0, sizeof(mjmGeom));
// Default site parameters
// set non-zero defaults
geom.fromto[0] = mjNAN;
geom.mass = mjNAN;
geom.type = mjGEOM_SPHERE;
geom.contype = 1;
geom.conaffinity = 1;
geom.condim = 3;
geom.friction[0] = 1;
geom.friction[1] = 0.005;
geom.friction[2] = 0.0001;
geom.solmix = 1.0;
mj_defaultSolRefImp(geom.solref, geom.solimp);
geom.density = 1000; // water density (1000 kg / m^3)
geom.fitscale = 1;
geom.rgba[0] = geom.rgba[1] = geom.rgba[2] = 0.5f;
geom.rgba[3] = 1.0f;
geom.typeinertia = mjINERTIA_VOLUME;
geom.quat[0] = 1;
geom.alt.axisangle[0] = geom.alt.xyaxes[0] = geom.alt.zaxis[0] = geom.alt.euler[0] = mjNAN;
geom.fluid_coefs[0] = 0.5; // blunt drag coefficient
geom.fluid_coefs[1] = 0.25; // slender drag coefficient
geom.fluid_coefs[2] = 1.5; // angular drag coefficient
geom.fluid_coefs[3] = 1.0; // kutta lift coefficient
geom.fluid_coefs[4] = 1.0; // magnus lift coefficient
}
// default site attributes
void mjm_defaultSite(mjmSite& site) {
memset(&site, 0, sizeof(mjmSite));