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Cosmetic improvements to src/user/ source files.

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PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
This commit is contained in:
Yuval Tassa
2025-03-18 02:58:23 -07:00
committed by Copybara-Service
parent bae5175cf2
commit 205599ac1a
10 changed files with 1580 additions and 1553 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_mesh.cc
+193 -193
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@@ -282,8 +282,8 @@ mjCMesh::~mjCMesh() {
void mjCMesh::LoadSDF() {
if (plugin_name.empty() && plugin_instance_name.empty()) {
throw mjCError(
this, "neither 'plugin' nor 'instance' is specified for mesh '%s', (id = %d)",
name.c_str(), id);
this, "neither 'plugin' nor 'instance' is specified for mesh '%s', (id = %d)",
name.c_str(), id);
}
if (scale[0] != 1 || scale[1] != 1 || scale[2] != 1) {
@@ -409,23 +409,23 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource) {
// calculate estimated size of mesh
std::size_t size = sizeof(mjCMesh)
+ (sizeof(double) * vert_.size())
+ (sizeof(float) * normal_.size())
+ (sizeof(float) * texcoord_.size())
+ (sizeof(int) * face_.size())
+ (sizeof(int) * facenormal_.size())
+ (sizeof(int) * facetexcoord_.size())
+ (sizeof(int) * 2 * halfedge_.size())
+ (sizeof(int) * szgraph_)
+ (sizeof(int) * npolygonvert())
+ (sizeof(double) * polygon_normals_.size())
+ (sizeof(int) * npolygonmap())
+ (sizeof(double) * 18)
+ (sizeof(int) * ncenter)
+ tree_.Size()
+ (sizeof(double) * face_aabb_.size());
+ (sizeof(double) * vert_.size())
+ (sizeof(float) * normal_.size())
+ (sizeof(float) * texcoord_.size())
+ (sizeof(int) * face_.size())
+ (sizeof(int) * facenormal_.size())
+ (sizeof(int) * facetexcoord_.size())
+ (sizeof(int) * 2 * halfedge_.size())
+ (sizeof(int) * szgraph_)
+ (sizeof(int) * npolygonvert())
+ (sizeof(double) * polygon_normals_.size())
+ (sizeof(int) * npolygonmap())
+ (sizeof(double) * 18)
+ (sizeof(int) * ncenter)
+ tree_.Size()
+ (sizeof(double) * face_aabb_.size());
std::shared_ptr<const void> cached_data(mesh, +[](const void* data) {
std::shared_ptr<const void> cached_data(mesh, +[] (const void* data) {
const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
delete mesh;
});
@@ -445,8 +445,8 @@ struct VertexKey {
std::size_t operator()(const VertexKey& vertex) const {
// combine all three hash values into a single hash value
return ((std::hash<float>()(vertex.v[0])
^ (std::hash<float>()(vertex.v[1]) << 1)) >> 1)
^ (std::hash<float>()(vertex.v[2]) << 1);
^ (std::hash<float>()(vertex.v[1]) << 1)) >> 1)
^ (std::hash<float>()(vertex.v[2]) << 1);
}
};
@@ -541,7 +541,7 @@ bool mjCMesh::IsMSH(std::string_view filename, std::string_view ct) {
return asset_type == "model/vnd.mujoco.msh";
}
bool mjCMesh::IsObj() const{
bool mjCMesh::IsObj() const {
return content_type_ == "model/obj";
}
@@ -641,7 +641,7 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
} else if (normal_.empty()) {
normal_ = spec_normal_;
}
if (!texcoord_.empty() && !spec_texcoord_.empty()) {
if (!texcoord_.empty() && !spec_texcoord_.empty()) {
throw mjCError(this, "repeated texcoord specification");
} else if (texcoord_.empty()) {
texcoord_ = spec_texcoord_;
@@ -835,29 +835,29 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
// get inertia box type (shell or volume)
double* boxsz = GetInertiaBoxPtr();
switch (geom->type) {
case mjGEOM_SPHERE:
geom->size[0] = (boxsz[0] + boxsz[1] + boxsz[2])/3;
break;
case mjGEOM_SPHERE:
geom->size[0] = (boxsz[0] + boxsz[1] + boxsz[2])/3;
break;
case mjGEOM_CAPSULE:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = max(0.0, boxsz[2] - geom->size[0]/2);
break;
case mjGEOM_CAPSULE:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = max(0.0, boxsz[2] - geom->size[0]/2);
break;
case mjGEOM_CYLINDER:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = boxsz[2];
break;
case mjGEOM_CYLINDER:
geom->size[0] = (boxsz[0] + boxsz[1])/2;
geom->size[1] = boxsz[2];
break;
case mjGEOM_ELLIPSOID:
case mjGEOM_BOX:
geom->size[0] = boxsz[0];
geom->size[1] = boxsz[1];
geom->size[2] = boxsz[2];
break;
case mjGEOM_ELLIPSOID:
case mjGEOM_BOX:
geom->size[0] = boxsz[0];
geom->size[1] = boxsz[1];
geom->size[2] = boxsz[2];
break;
default:
throw mjCError(this, "invalid geom type in fitting mesh %s", name.c_str());
default:
throw mjCError(this, "invalid geom type in fitting mesh %s", name.c_str());
}
}
@@ -873,58 +873,58 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
// compute depending on type
switch (geom->type) {
case mjGEOM_SPHERE:
// find maximum distance
geom->size[0] = 0;
for (int i=0; i < nvert(); i++) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = mjuu_dist3(v, cen);
geom->size[0] = max(geom->size[0], dst);
}
break;
case mjGEOM_SPHERE:
// find maximum distance
geom->size[0] = 0;
for (int i=0; i < nvert(); i++) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = mjuu_dist3(v, cen);
geom->size[0] = max(geom->size[0], dst);
}
break;
case mjGEOM_CAPSULE:
case mjGEOM_CYLINDER:
// find maximum distance in XY, separately in Z
geom->size[0] = 0;
geom->size[1] = 0;
for (int i=0; i < nvert(); i++) {
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
geom->size[0] = max(geom->size[0], dst);
// proceed with z: valid for cylinder
double dst2 = abs(v[2]-cen[2]);
geom->size[1] = max(geom->size[1], dst2);
}
// special handling of capsule: consider curved cap
if (geom->type==mjGEOM_CAPSULE) {
case mjGEOM_CAPSULE:
case mjGEOM_CYLINDER:
// find maximum distance in XY, separately in Z
geom->size[0] = 0;
geom->size[1] = 0;
for (int i=0; i < nvert(); i++) {
// get distance in XY and Z
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
geom->size[0] = max(geom->size[0], dst);
// proceed with z: valid for cylinder
double dst2 = abs(v[2]-cen[2]);
// get spherical elevation at horizontal distance dst
double h = geom->size[0] * sin(acos(dst/geom->size[0]));
geom->size[1] = max(geom->size[1], dst2-h);
geom->size[1] = max(geom->size[1], dst2);
}
}
break;
case mjGEOM_ELLIPSOID:
case mjGEOM_BOX:
geom->size[0] = aamm_[3] - cen[0];
geom->size[1] = aamm_[4] - cen[1];
geom->size[2] = aamm_[5] - cen[2];
break;
// special handling of capsule: consider curved cap
if (geom->type == mjGEOM_CAPSULE) {
geom->size[1] = 0;
for (int i=0; i < nvert(); i++) {
// get distance in XY and Z
double v[3] = {vert_[3*i], vert_[3*i+1], vert_[3*i+2]};
double dst = sqrt((v[0]-cen[0])*(v[0]-cen[0]) +
(v[1]-cen[1])*(v[1]-cen[1]));
double dst2 = abs(v[2]-cen[2]);
default:
throw mjCError(this, "invalid fittype in mesh %s", name.c_str());
// get spherical elevation at horizontal distance dst
double h = geom->size[0] * sin(acos(dst/geom->size[0]));
geom->size[1] = max(geom->size[1], dst2-h);
}
}
break;
case mjGEOM_ELLIPSOID:
case mjGEOM_BOX:
geom->size[0] = aamm_[3] - cen[0];
geom->size[1] = aamm_[4] - cen[1];
geom->size[2] = aamm_[5] - cen[2];
break;
default:
throw mjCError(this, "invalid fittype in mesh %s", name.c_str());
}
}
@@ -1186,7 +1186,7 @@ void mjCMesh::LoadMSH(mjResource* resource, bool remove_repeated) {
}
// make sure header is present
if (buffer_sz<4*sizeof(int)) {
if (buffer_sz < 4*sizeof(int)) {
throw mjCError(this, "missing header in MSH file '%s'", resource->name);
}
@@ -1626,13 +1626,13 @@ double mjCMesh::ComputeInertia(double inert[6], const double CoM[3]) const {
int C = (inertia == mjMESH_INERTIA_SHELL) ? 12 : 20;
for (int j = 0; j < 6; j++) {
P[j] += volume /
C * (
2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] +
F[k[j][0]] * F[k[j][1]]) +
D[k[j][0]] * E[k[j][1]] + D[k[j][1]] * E[k[j][0]] +
D[k[j][0]] * F[k[j][1]] + D[k[j][1]] * F[k[j][0]] +
E[k[j][0]] * F[k[j][1]] + E[k[j][1]] * F[k[j][0]]);
C * (
2*(D[k[j][0]] * D[k[j][1]] +
E[k[j][0]] * E[k[j][1]] +
F[k[j][0]] * F[k[j][1]]) +
D[k[j][0]] * E[k[j][1]] + D[k[j][1]] * E[k[j][0]] +
D[k[j][0]] * F[k[j][1]] + D[k[j][1]] * F[k[j][0]] +
E[k[j][0]] * F[k[j][1]] + E[k[j][1]] * F[k[j][0]]);
}
}
@@ -1669,7 +1669,7 @@ void mjCMesh::Rotate(double quat[4]) {
const double nrm[3] = {normal_[3*i], normal_[3*i+1], normal_[3*i+2]};
double res[3];
mjuu_mulvecmat(res, nrm, mat);
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
normal_[3*i+j] = (float) res[j];
}
}
@@ -1784,7 +1784,7 @@ void mjCMesh::MakeGraph() {
FORALLvertices {
// point id of this vertex, check
int pid = qh_pointid(qh, vertex->point);
if (pid<0 || pid>=nvert()) {
if (pid < 0 || pid >= nvert()) {
ok = 0;
break;
}
@@ -1802,29 +1802,29 @@ void mjCMesh::MakeGraph() {
// point id of face vertex, check
int pid1 = qh_pointid(qh, vertex1->point);
if (pid1<0 || pid1>=nvert()) {
if (pid1 < 0 || pid1 >= nvert()) {
ok = 0;
break;
}
// if different from vertex id, try to insert
if (pid!=pid1) {
if (pid != pid1) {
// check for previous record
int j;
for (j=start; j<adr; j++)
if (pid1==edge_localid[j]) {
for (j=start; j < adr; j++)
if (pid1 == edge_localid[j]) {
break;
}
// not found: insert
if (j>=adr) {
if (j >= adr) {
edge_localid[adr++] = pid1;
}
}
}
// make sure we have triangle: SHOULD NOT OCCUR
if (cnt!=3) {
if (cnt != 3) {
mju_error("Qhull did not return triangle");
}
}
@@ -1835,7 +1835,7 @@ void mjCMesh::MakeGraph() {
}
// size check: SHOULD NOT OCCUR
if (adr!=numvert+3*numface) {
if (adr != numvert+3*numface) {
mju_error("Wrong size in convex hull graph");
}
@@ -1852,7 +1852,7 @@ void mjCMesh::MakeGraph() {
// copy triangle data
FOREACHsetelement_(vertexT, facet->vertices, vertex1) {
// make sure we have triangle: SHOULD NOT OCCUR
if (ii>=3) {
if (ii >= 3) {
mju_error("Qhull did not return triangle");
}
@@ -1877,18 +1877,18 @@ void mjCMesh::MakeGraph() {
// replace global ids with local ids in edge data
for (int i=0; i < numvert+3*numface; i++) {
if (edge_localid[i]>=0) {
if (edge_localid[i] >= 0) {
// search vert_globalid for match
int adr;
for (adr=0; adr<numvert; adr++) {
if (vert_globalid[adr]==edge_localid[i]) {
for (adr=0; adr < numvert; adr++) {
if (vert_globalid[adr] == edge_localid[i]) {
edge_localid[i] = adr;
break;
}
}
// make sure we found a match: SHOULD NOT OCCUR
if (adr>=numvert) {
if (adr >= numvert) {
mju_error("Vertex id not found in convex hull");
}
}
@@ -1952,13 +1952,13 @@ void mjCMesh::MakeNormal() {
for (int i=0; i < nface(); i++) {
// get vertex ids
int vertid[3];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
vertid[j] = face_[3*i+j];
}
// get triangle edges
double vec01[3], vec02[3];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
vec01[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[0]+j];
vec02[j] = vert_[3*vertid[2]+j] - vert_[3*vertid[0]+j];
}
@@ -1969,8 +1969,8 @@ void mjCMesh::MakeNormal() {
double area = mjuu_normvec(nrm, 3);
// add normal to each vertex with weight = area
for (int j=0; j<3; j++) {
for (int k=0; k<3; k++) {
for (int j=0; j < 3; j++) {
for (int k=0; k < 3; k++) {
normal_[3*vertid[j]+k] += nrm[k]*area;
}
facenormal_[3*i+j] = vertid[j];
@@ -1987,13 +1987,13 @@ void mjCMesh::MakeNormal() {
for (int i=0; i < nface(); i++) {
// get vertex ids
int vertid[3];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
vertid[j] = face_[3*i+j];
}
// get triangle edges
double vec01[3], vec02[3];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
vec01[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[0]+j];
vec02[j] = vert_[3*vertid[2]+j] - vert_[3*vertid[0]+j];
}
@@ -2004,14 +2004,14 @@ void mjCMesh::MakeNormal() {
double area = mjuu_normvec(nrm, 3);
// compare to vertex normal, subtract contribution if dot product too small
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
// normalized vertex normal
double vnrm[3] = {normal_[3*vertid[j]], normal_[3*vertid[j]+1], normal_[3*vertid[j]+2]};
mjuu_normvec(vnrm, 3);
// dot too small: remove
if (mjuu_dot3(nrm, vnrm)<0.8) {
for (int k=0; k<3; k++) {
if (mjuu_dot3(nrm, vnrm) < 0.8) {
for (int k=0; k < 3; k++) {
nremove[3*vertid[j]+k] += nrm[k]*area;
}
}
@@ -2033,12 +2033,12 @@ void mjCMesh::MakeNormal() {
normal_[3*i+2]*normal_[3*i+2]);
// divide by length
if (len>mjMINVAL)
for (int j=0; j<3; j++) {
if (len > mjMINVAL)
for (int j=0; j < 3; j++) {
normal_[3*i+j] /= len;
} else {
normal_[3*i] = normal_[3*i+1] = 0;
normal_[3*i+2] = 1;
}else {
normal_[3*i] = normal_[3*i+1] = 0;
normal_[3*i+2] = 1;
}
}
}
@@ -2061,7 +2061,7 @@ void mjCMesh::MakeCenter() {
// get triangle edges
double a[3], b[3];
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
a[j] = vert_[3*vertid[0]+j] - vert_[3*vertid[2]+j];
b[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[2]+j];
}
@@ -2093,12 +2093,12 @@ void mjCMesh::MakeCenter() {
// compute the normals of the polygons
void mjCMesh::MakePolygonNormals() {
for (int i = 0; i < polygons_.size(); ++i) {
double n[3];
mjuu_makenormal(n, &vert_[3*polygons_[i][0]], &vert_[3*polygons_[i][1]],
&vert_[3*polygons_[i][2]]);
polygon_normals_[3*i + 0] = n[0];
polygon_normals_[3*i + 1] = n[1];
polygon_normals_[3*i + 2] = n[2];
double n[3];
mjuu_makenormal(n, &vert_[3*polygons_[i][0]], &vert_[3*polygons_[i][1]],
&vert_[3*polygons_[i][2]]);
polygon_normals_[3*i + 0] = n[0];
polygon_normals_[3*i + 1] = n[1];
polygon_normals_[3*i + 2] = n[2];
}
}
@@ -2265,8 +2265,8 @@ void MeshPolygon::InsertFace(int v1, int v2, int v3) {
// return the traverse vertices of the polygon; there may be multiple paths if the polygon is
// not connected
std::vector<std::vector<int>> MeshPolygon::Paths() const {
std::vector<std::vector<int>> paths;
std::vector<std::vector<int> > MeshPolygon::Paths() const {
std::vector<std::vector<int> > paths;
// shortcut if polygon is just a triangular face
if (edges_.size() == 3) {
return {{edges_[0].first, edges_[1].first, edges_[2].first}};
@@ -2304,7 +2304,7 @@ std::vector<std::vector<int>> MeshPolygon::Paths() const {
}
path.push_back(next);
break;
}
}
}
// back at start
@@ -2357,7 +2357,7 @@ void mjCMesh::MakePolygons() {
}
for (const auto& polygon : polygons) {
std::vector<std::vector<int>> paths = polygon.Paths();
std::vector<std::vector<int> > paths = polygon.Paths();
// separate the polygons if they were grouped together
for (const auto& path : paths) {
@@ -2595,7 +2595,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
if (vert_.size()%3) {
throw mjCError(this, "Vertex data must be multiple of 3");
}
if (!texcoord_.empty() && texcoord_.size()!=2*vert_.size()/3) {
if (!texcoord_.empty() && texcoord_.size() != 2*vert_.size()/3) {
throw mjCError(this, "Vertex and texcoord data incompatible size");
}
if (face_.size()%3) {
@@ -2604,16 +2604,16 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// check bone sizes
size_t nbone = bodyname_.size();
if (bindpos_.size()!=3*nbone) {
if (bindpos_.size() != 3*nbone) {
throw mjCError(this, "Unexpected bindpos size in skin");
}
if (bindquat_.size()!=4*nbone) {
if (bindquat_.size() != 4*nbone) {
throw mjCError(this, "Unexpected bindquat size in skin");
}
if (vertid_.size()!=nbone) {
if (vertid_.size() != nbone) {
throw mjCError(this, "Unexpected vertid size in skin");
}
if (vertweight_.size()!=nbone) {
if (vertweight_.size() != nbone) {
throw mjCError(this, "Unexpected vertweight size in skin");
}
@@ -2638,15 +2638,15 @@ void mjCSkin::Compile(const mjVFS* vfs) {
for (int i=0; i < nbone; i++) {
// make sure bone has vertices and sizes match
size_t nbv = vertid_[i].size();
if (vertweight_[i].size()!=nbv || nbv==0) {
if (vertweight_[i].size() != nbv || nbv == 0) {
throw mjCError(this, "vertid and vertweight must have same non-zero size in skin");
}
// accumulate weights in global array
for (int j=0; j<nbv; j++) {
for (int j=0; j < nbv; j++) {
// get index and check range
int jj = vertid_[i][j];
if (jj<0 || jj>=nvert) {
if (jj < 0 || jj >= nvert) {
throw mjCError(this, "vertid %d out of range in skin", NULL, jj);
}
@@ -2657,14 +2657,14 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// check coverage
for (int i=0; i < nvert; i++) {
if (vw[i]<=mjMINVAL) {
if (vw[i] <= mjMINVAL) {
throw mjCError(this, "vertex %d must have positive total weight in skin", NULL, i);
}
}
// normalize vertex weights
for (int i=0; i < nbone; i++) {
for (int j=0; j<vertid_[i].size(); j++) {
for (int j=0; j < vertid_[i].size(); j++) {
vertweight_[i][j] /= vw[vertid_[i][j]];
}
}
@@ -2700,7 +2700,7 @@ void mjCSkin::LoadSKN(mjResource* resource) {
}
// make sure header is present
if (buffer_sz<16) {
if (buffer_sz < 16) {
throw mjCError(this, "missing header in SKN file '%s'", resource->name);
}
@@ -2711,7 +2711,7 @@ void mjCSkin::LoadSKN(mjResource* resource) {
int nbone = ((int*)buffer)[3];
// negative sizes not allowed
if (nvert<0 || ntexcoord<0 || nface<0 || nbone<0) {
if (nvert < 0 || ntexcoord < 0 || nface < 0 || nbone < 0) {
throw mjCError(this, "negative size in header of SKN file '%s'", resource->name);
}
@@ -2779,7 +2779,7 @@ void mjCSkin::LoadSKN(mjResource* resource) {
cnt += 1;
// check for negative
if (vcount<1) {
if (vcount < 1) {
throw mjCError(this, "vertex count must be positive in SKN file '%s', bone %d",
resource->name, i);
}
@@ -2814,10 +2814,10 @@ void mjCSkin::LoadSKN(mjResource* resource) {
// hash function for std::pair
struct PairHash
{
template <class T1, class T2>
std::size_t operator() (const std::pair<T1, T2>& pair) const {
return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
}
template <class T1, class T2>
std::size_t operator() (const std::pair<T1, T2>& pair) const {
return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
}
};
// simplex connectivity
@@ -3122,7 +3122,7 @@ void inline ComputeLinearStiffness(std::vector<double>& K,
double invJ[3] = {1.0 / dx, 1.0 / dy, 1.0 / dz};
// compute stiffness matrix
std::vector<std::array<double, 3>> F(n);
std::vector<std::array<double, 3> > F(n);
double la = E * nu / (1 + nu) / (1 - 2 * nu);
double mu = E / (2 * (1 + nu));
@@ -3316,22 +3316,22 @@ void mjCFlex::Compile(const mjVFS* vfs) {
interpolated = !nodebody_.empty();
// set nelem; check sizes
if (dim<1 || dim>3) {
throw mjCError(this, "dim must be 1, 2 or 3");
if (dim < 1 || dim > 3) {
throw mjCError(this, "dim must be 1, 2 or 3");
}
if (elem_.empty()) {
throw mjCError(this, "elem is empty");
throw mjCError(this, "elem is empty");
}
if (elem_.size() % (dim+1)) {
throw mjCError(this, "elem size must be multiple of (dim+1)");
throw mjCError(this, "elem size must be multiple of (dim+1)");
}
if (vertbody_.empty() && !interpolated) {
throw mjCError(this, "vertbody and nodebody are both empty");
throw mjCError(this, "vertbody and nodebody are both empty");
}
if (vert_.size() % 3) {
throw mjCError(this, "vert size must be a multiple of 3");
throw mjCError(this, "vert size must be a multiple of 3");
}
if (edgestiffness>0 && dim>1) {
if (edgestiffness > 0 && dim > 1) {
throw mjCError(this, "edge stiffness only available for dim=1, please use elasticity plugins");
}
if (interpolated && selfcollide != mjFLEXSELF_NONE) {
@@ -3349,29 +3349,29 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
else {
nvert = (int)vert_.size()/3;
if (vertbody_.size()==1) {
if (vertbody_.size() == 1) {
rigid = true;
}
}
if (nvert<dim+1) {
if (nvert < dim+1) {
throw mjCError(this, "not enough vertices");
}
// set nnode
nnode = (int)nodebody_.size();
if (nnode && nnode!=8) {
if (nnode && nnode != 8) {
throw mjCError(this, "number of nodes must be 2^dim, it is %d", "", nnode);
}
// check elem vertex ids
for (const auto& elem : elem_) {
if (elem<0 || elem>=nvert) {
if (elem < 0 || elem >= nvert) {
throw mjCError(this, "elem vertex id out of range");
}
}
// check texcoord
if (!texcoord_.empty() && texcoord_.size()!=2*nvert && elemtexcoord_.empty()) {
if (!texcoord_.empty() && texcoord_.size() != 2*nvert && elemtexcoord_.empty()) {
throw mjCError(this, "two texture coordinates per vertex expected");
}
@@ -3393,15 +3393,15 @@ void mjCFlex::Compile(const mjVFS* vfs) {
ResolveReferences(model);
// process elements
for (int e=0; e<(int)elem_.size()/(dim+1); e++) {
for (int e=0; e < (int)elem_.size()/(dim+1); e++) {
// make sorted copy of element
std::vector<int> el;
el.assign(elem_.begin()+e*(dim+1), elem_.begin()+(e+1)*(dim+1));
std::sort(el.begin(), el.end());
// check for repeated vertices
for (int k=0; k<dim; k++) {
if (el[k]==el[k+1]) {
for (int k=0; k < dim; k++) {
if (el[k] == el[k+1]) {
throw mjCError(this, "repeated vertex in element");
}
}
@@ -3411,7 +3411,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (!rigid && !interpolated) {
rigid = true;
for (unsigned i=1; i < vertbodyid.size(); i++) {
if (vertbodyid[i]!=vertbodyid[0]) {
if (vertbodyid[i] != vertbodyid[0]) {
rigid = false;
break;
}
@@ -3422,7 +3422,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (!centered && !interpolated) {
centered = true;
for (const auto& vert : vert_) {
if (vert!=0) {
if (vert != 0) {
centered = false;
break;
}
@@ -3432,7 +3432,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (!centered && interpolated) {
centered = true;
for (const auto& node : node_) {
if (node!=0) {
if (node != 0) {
centered = false;
break;
}
@@ -3477,8 +3477,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
// reorder tetrahedra so right-handed face orientation is outside
// faces are (0,1,2); (0,2,3); (0,3,1); (1,3,2)
if (dim==3) {
for (int e=0; e<nelem; e++) {
if (dim == 3) {
for (int e=0; e < nelem; e++) {
const int* edata = elem_.data() + e*(dim+1);
double* v0 = vertxpos.data() + 3*edata[0];
double* v1 = vertxpos.data() + 3*edata[1];
@@ -3491,7 +3491,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
// detect wrong orientation
double nrm[3];
mjuu_crossvec(nrm, v01, v02);
if (mjuu_dot3(nrm, v03)>0) {
if (mjuu_dot3(nrm, v03) > 0) {
// flip orientation
int tmp = elem_[e*(dim+1)+1];
elem_[e*(dim+1)+1] = elem_[e*(dim+1)+2];
@@ -3513,7 +3513,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
auto pair = std::pair(
min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])
);
);
// if edge is already present in the vector only store its index
auto [it, inserted] = edge_indices.insert({pair, nedge});
@@ -3547,11 +3547,11 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (interpolated) {
continue;
}
if (dim==2) {
if (dim == 2) {
ComputeStiffness<Stencil2D>(stiffness, vertxpos,
elem_.data() + (dim + 1) * t, t, young,
poisson, thickness);
} else if (dim==3) {
} else if (dim == 3) {
ComputeStiffness<Stencil3D>(stiffness, vertxpos,
elem_.data() + (dim + 1) * t, t, young,
poisson);
@@ -3570,7 +3570,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
if (model->Bodies()[vbodyid]->plugin.element) {
mjCPlugin* plugin_instance =
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
if (damping > 0) {
plugin_instance->config_attribs["damping"] = std::to_string(damping);
}
@@ -3613,11 +3613,11 @@ void mjCFlex::CreateBVH() {
tree.AllocateBoundingVolumes(nelem);
// construct element bounding boxes, add to hierarchy
for (int e=0; e<nelem; e++) {
for (int e=0; e < nelem; e++) {
const int* edata = elem_.data() + e*(dim+1);
// skip inactive in 3D
if (dim==3 && elemlayer[e]>=activelayers) {
if (dim == 3 && elemlayer[e] >= activelayers) {
continue;
}
@@ -3626,7 +3626,7 @@ void mjCFlex::CreateBVH() {
mjuu_copyvec(xmin, vertxpos.data() + 3*edata[0], 3);
mjuu_copyvec(xmax, vertxpos.data() + 3*edata[0], 3);
for (int i=1; i <= dim; i++) {
for (int j=0; j<3; j++) {
for (int j=0; j < 3; j++) {
xmin[j] = std::min(xmin[j], vertxpos[3*edata[i]+j]);
xmax[j] = std::max(xmax[j], vertxpos[3*edata[i]+j]);
}
@@ -3655,13 +3655,13 @@ void mjCFlex::CreateBVH() {
// create shells and element-vertex collision pairs
void mjCFlex::CreateShellPair(void) {
std::vector<std::vector<int>> fragspec(nelem*(dim+1)); // [sorted frag vertices, elem, original frag vertices]
std::vector<std::vector<int>> connectspec; // [elem1, elem2, common sorted frag vertices]
std::vector<std::vector<int> > fragspec(nelem*(dim+1)); // [sorted frag vertices, elem, original frag vertices]
std::vector<std::vector<int> > connectspec; // [elem1, elem2, common sorted frag vertices]
std::vector<bool> border(nelem, false); // is element on the border
std::vector<bool> borderfrag(nelem*(dim+1), false); // is fragment on the border
// make fragspec
for (int e=0; e<nelem; e++) {
for (int e=0; e < nelem; e++) {
int n = e*(dim+1);
// element vertices in original (unsorted) order
@@ -3669,7 +3669,7 @@ void mjCFlex::CreateShellPair(void) {
el.assign(elem_.begin()+n, elem_.begin()+n+dim+1);
// line: 2 vertex fragments
if (dim==1) {
if (dim == 1) {
fragspec[n].push_back(el[0]);
fragspec[n].push_back(e);
fragspec[n].push_back(el[0]);
@@ -3680,7 +3680,7 @@ void mjCFlex::CreateShellPair(void) {
}
// triangle: 3 edge fragments
else if (dim==2) {
else if (dim == 2) {
fragspec[n].push_back(el[0]);
fragspec[n].push_back(el[1]);
fragspec[n].push_back(e);
@@ -3737,8 +3737,8 @@ void mjCFlex::CreateShellPair(void) {
}
// sort first segment of each fragspec
if (dim>1) {
for (int n=0; n<nelem*(dim+1); n++) {
if (dim > 1) {
for (int n=0; n < nelem*(dim+1); n++) {
std::sort(fragspec[n].begin(), fragspec[n].begin()+dim);
}
}
@@ -3748,13 +3748,13 @@ void mjCFlex::CreateShellPair(void) {
// make border and connectspec, record borderfrag
int cnt = 1;
for (int n=1; n<nelem*(dim+1); n++) {
for (int n=1; n < nelem*(dim+1); n++) {
// extract frag vertices, without elem
std::vector<int> previous = {fragspec[n-1].begin(), fragspec[n-1].begin()+dim};
std::vector<int> current = {fragspec[n].begin(), fragspec[n].begin()+dim};
// same sequential fragments
if (previous==current) {
if (previous == current) {
// found pair of elements connected by common fragment
std::vector<int> connect;
connect.insert(connect.end(), fragspec[n-1][dim]);
@@ -3769,7 +3769,7 @@ void mjCFlex::CreateShellPair(void) {
// different sequential fragments
else {
// found border fragment
if (cnt==1) {
if (cnt == 1) {
border[fragspec[n-1][dim]] = true;
borderfrag[n-1] = true;
}
@@ -3780,7 +3780,7 @@ void mjCFlex::CreateShellPair(void) {
}
// last fragment is border
if (cnt==1) {
if (cnt == 1) {
int n = nelem*(dim+1);
border[fragspec[n-1][dim]] = true;
borderfrag[n-1] = true;
@@ -3795,12 +3795,12 @@ void mjCFlex::CreateShellPair(void) {
}
// compute elemlayer (distance from border) via value iteration in 3D
if (dim<3) {
if (dim < 3) {
elemlayer = std::vector<int> (nelem, 0);
}
else {
elemlayer = std::vector<int> (nelem, nelem+1); // init with greater than max value
for (int e=0; e<nelem; e++) {
for (int e=0; e < nelem; e++) {
if (border[e]) {
elemlayer[e] = 0; // set border elements to 0
}
@@ -3814,10 +3814,10 @@ void mjCFlex::CreateShellPair(void) {
for (const auto& connect : connectspec) {
int e1 = connect[0]; // get element pair for this edge
int e2 = connect[1];
if (elemlayer[e1]>elemlayer[e2]+1) {
elemlayer[e1] = elemlayer[e2]+1; // better value found for e1: update
if (elemlayer[e1] > elemlayer[e2]+1) {
elemlayer[e1] = elemlayer[e2]+1; // better value found for e1: update
change = true;
} else if (elemlayer[e2]>elemlayer[e1]+1) {
} else if (elemlayer[e2] > elemlayer[e1]+1) {
elemlayer[e2] = elemlayer[e1]+1; // better value found for e2: update
change = true;
}
@@ -3826,7 +3826,7 @@ void mjCFlex::CreateShellPair(void) {
}
// create evpairs in 1D and 2D
if (dim<3) {
if (dim < 3) {
// process connected element pairs containing a border element
for (const auto& connect : connectspec) {
if (border[connect[0]] || border[connect[1]]) {