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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_objects.h
+41 -52
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@@ -86,13 +86,6 @@ typedef enum _mjtMark {
} mjtMark;
// type of mesh
typedef enum _mjtMeshType {
mjVOLUME_MESH,
mjSHELL_MESH,
} mjtMeshType;
// error information
class [[nodiscard]] mjCError {
public:
@@ -378,23 +371,25 @@ class mjCJoint : public mjCBase {
//------------------------- class mjCGeom ----------------------------------------------------------
// Describes a geometric shape belonging to a body
class mjCGeom : public mjCBase {
class mjCGeom : public mjCBase, private mjmGeom {
friend class mjCDef;
friend class mjCMesh;
friend class mjCPair;
friend class mjCBody;
friend class mjCModel;
friend class mjCWrap;
friend class mjXWriter;
friend class mjXURDF;
public:
using mjCBase::name;
mjmGeom spec; // variables set by user
double GetVolume(void); // compute geom volume
void SetInertia(void); // compute and set geom inertia
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
bool inferinertia; // true if inertia should be computed from geom
// Compute all coefs modeling the interaction with the surrounding fluid.
void SetFluidCoefs(void);
@@ -404,56 +399,46 @@ class mjCGeom : public mjCBase {
// sets properties of a bounding volume
void SetBoundingVolume(mjCBoundingVolume* bv) const;
// variables set by user and copied into mjModel
mjtGeom type; // geom type
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int group; // used for rendering
int priority; // contact priority
double size[3]; // geom-specific size parameters
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
mjtNum fluid_switch; // whether ellipsoid-fluid model is active
mjtNum fluid_coefs[5]; // tunable ellipsoid-fluid interaction coefs
mjtNum fluid[mjNFLUID]; // compile-time fluid-interaction parameters
std::string hfieldname; // hfield attached to geom
std::string meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
std::vector<double> userdata; // user data
float rgba[4]; // rgba when material is omitted
mjtMeshType typeinertia; // selects between surface and volume inertia
bool inferinertia; // true if inertia has to be computed from geom
// variables set by user and used during compilation
double _mass; // used to compute density
double density; // used to compute mass and inertia (from volume)
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjCAlternative alt; // alternative orientation specifications
// variables set by user or 'Compile'
double pos[3]; // position
double quat[4]; // orientation
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const std::string& get_hfieldname() { return spec_hfieldname_; }
const std::string& get_meshname() { return spec_meshname_; }
const std::string& get_material() { return spec_material_; }
void del_material() { spec_material_.clear(); }
private:
mjCGeom(mjCModel* = 0, mjCDef* = 0);
void Compile(void); // compiler
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
void CopyFromSpec(void);
void MakePointerLocal(void);
std::string material_; // name of material used for rendering
mjCAlternative alt_;
bool visual_; // true: geom does not collide and is unreferenced
int matid; // id of geom's material
mjCMesh* mesh; // geom's mesh
mjCHField* hfield; // geom's hfield
double mass; // mass
double mass_; // mass
double inertia[3]; // local diagonal inertia
double aabb[6]; // axis-aligned bounding box (center, size)
mjCBody* body; // geom's body
mjtNum fluid[mjNFLUID]; // compile-time fluid-interaction parameters
// variable-size data
std::string hfieldname_;
std::string meshname_;
std::string material_;
std::vector<double> userdata_;
std::string spec_hfieldname_;
std::string spec_meshname_;
std::string spec_material_;
std::vector<double> spec_userdata_;
// inherited
using mjCBase::classname;
using mjCBase::info;
using mjCBase::plugin;
};
@@ -479,6 +464,7 @@ class mjCSite : public mjCBase, private mjmSite {
// used by mjXWriter and mjCModel
const std::vector<double>& get_userdata() { return userdata_; }
const std::string& get_material() { return material_; }
void del_material() { material_.clear(); }
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
@@ -701,12 +687,12 @@ class mjCMesh: public mjCBase {
void set_userface(std::optional<std::vector<int>>&& userface);
void Compile(const mjVFS* vfs); // compiler
double* GetPosPtr(mjtMeshType type); // get position
double* GetQuatPtr(mjtMeshType type); // get orientation
double* GetPosPtr(mjtGeomInertia type); // get position
double* GetQuatPtr(mjtGeomInertia type); // get orientation
double* GetOffsetPosPtr(); // get position offset for geom
double* GetOffsetQuatPtr(); // get orientation offset for geom
double* GetInertiaBoxPtr(mjtMeshType type); // get inertia box
double& GetVolumeRef(mjtMeshType type); // get volume
double* GetInertiaBoxPtr(mjtGeomInertia type); // get inertia box
double& GetVolumeRef(mjtGeomInertia type); // get volume
void FitGeom(mjCGeom* geom, double* meshpos); // approximate mesh with simple geom
bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord
@@ -753,10 +739,10 @@ class mjCMesh: public mjCBase {
void ApplyTransformations(); // apply user transformations
void ComputeFaceCentroid(double[3]); // compute centroid of all faces
void RemoveRepeated(void); // remove repeated vertices
void CheckMesh(mjtMeshType type); // check if the mesh is valid
void CheckMesh(mjtGeomInertia type); // check if the mesh is valid
// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtMeshType type, const double facecen[3],
void ComputeVolume(double CoM[3], mjtGeomInertia type, const double facecen[3],
bool exactmeshinertia);
// mesh properties that indicate a well-formed mesh
@@ -814,6 +800,7 @@ class mjCSkin: public mjCBase {
std::string get_file() const { return file; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
void del_material() { material_.clear(); }
std::string file; // skin file
float rgba[4]; // rgba when material is omitted
@@ -1076,6 +1063,7 @@ class mjCTendon : public mjCBase {
public:
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
void del_material() { material_.clear(); }
// API for adding wrapping objects
void WrapSite(std::string name, std::string_view info = ""); // site
@@ -1326,6 +1314,7 @@ class mjCDef {
public:
mjCDef(void); // constructor
void Compile(const mjCModel* model); // compiler
void MakePointerLocal();
// identifiers
std::string name; // class name