Add sleep related data structures
PiperOrigin-RevId: 829055431 Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
3080e3424f
commit
252a0d73df
@@ -414,6 +414,12 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
|
||||
- 50
|
||||
- The maximum depth of each body and mesh bounding volume hierarchy. If this large limit is exceeded, a warning
|
||||
is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
|
||||
* - ``mjMAXFLEXNODES``
|
||||
- 27
|
||||
- Some number by Alessio that needs documentation. I guess it's related to trilinear flexes?
|
||||
* - ``mjMINAWAKE``
|
||||
- 10
|
||||
- The minimum number of timesteps that must pass after a tree is awoken, before it is allowed to go back to sleep.
|
||||
* - ``mjNEQDATA``
|
||||
- 11
|
||||
- The maximal number of real-valued parameters used to define each equality constraint. Determines the size of
|
||||
|
||||
@@ -380,6 +380,17 @@ last argument to :ref:`mj_local2global`.
|
||||
.. mujoco-include:: mjtSameFrame
|
||||
|
||||
|
||||
.. _mjtSleepPolicy:
|
||||
|
||||
mjtSleepPolicy
|
||||
~~~~~~~~~~~~~~
|
||||
|
||||
Sleep policy associated with a tree. The compiler automatically chooses between ``NEVER`` and ``ALLOWED``, but the user
|
||||
can override this choice. Only the user can set the ``INIT`` policy (initialized as asleep).
|
||||
|
||||
.. mujoco-include:: mjtSleepPolicy
|
||||
|
||||
|
||||
.. _mjtFlexSelf:
|
||||
|
||||
mjtFlexSelf
|
||||
@@ -463,6 +474,15 @@ Timer types. The number of timer types is given by ``mjNTIMER`` which is also th
|
||||
.. mujoco-include:: mjtTimer
|
||||
|
||||
|
||||
.. _mjtSleepState:
|
||||
|
||||
mjtSleepState
|
||||
~~~~~~~~~~~~~
|
||||
|
||||
Sleep state of an object.
|
||||
|
||||
.. mujoco-include:: mjtSleepState
|
||||
|
||||
|
||||
.. _tyVisEnums:
|
||||
|
||||
|
||||
@@ -460,6 +460,11 @@ adjust it properly through the XML.
|
||||
:at:`ccd_tolerance`: :at-val:`real, "1e-6"`
|
||||
Tolerance threshold used for early termination of the convex collision algorithm.
|
||||
|
||||
.. _option-sleep_tolerance:
|
||||
|
||||
:at:`sleep_tolerance`: :at-val:`real, "1e-4"`
|
||||
Velocity tolerance below which sleeping is possible. Feature under development, documentation pending.
|
||||
|
||||
.. _option-sdf_iterations:
|
||||
|
||||
:at:`sdf_iterations`: :at-val:`int, "10"`
|
||||
@@ -666,6 +671,11 @@ from its default.
|
||||
to instabilities that typically manifest as sliding or wobbling. The implementation of this feature depends on the
|
||||
selected convex collision pipeline, see :ref:`convex collisions<coCCD>` for more details.
|
||||
|
||||
.. _option-flag-sleep:
|
||||
|
||||
:at:`sleep`: :at-val:`[disable, enable], "disable"`
|
||||
This flag enables sleeping. Feature under development, documentation pending.
|
||||
|
||||
.. _compiler:
|
||||
|
||||
**compiler** (*)
|
||||
@@ -2059,6 +2069,11 @@ defined. Its body name is automatically defined as "world".
|
||||
equal to the body's weight and compensates for gravity exactly. Values greater than ``1`` will create a net upwards
|
||||
force or buoyancy effect.
|
||||
|
||||
.. _body-sleep:
|
||||
|
||||
:at:`sleep`: :at-val:`[auto, never, allowed, init], "auto"`
|
||||
Sleep policy for the tree under this body. Feature under development, documentation pending.
|
||||
|
||||
.. _body-user:
|
||||
|
||||
:at:`user`: :at-val:`real(nbody_user), "0 0 ..."`
|
||||
|
||||
+9
-7
@@ -12,17 +12,17 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`timestep<option-timestep>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | :ref:`ls_tolerance<option-ls_tolerance>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`ccd_tolerance<option-ccd_tolerance>` | :ref:`gravity<option-gravity>` | :ref:`wind<option-wind>` | |
|
||||
| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`ccd_tolerance<option-ccd_tolerance>` | :ref:`sleep_tolerance<option-sleep_tolerance>` | :ref:`gravity<option-gravity>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | :ref:`o_margin<option-o_margin>` | |
|
||||
| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | :ref:`integrator<option-integrator>` | |
|
||||
| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
|
||||
| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`ccd_iterations<option-ccd_iterations>` | :ref:`sdf_iterations<option-sdf_iterations>` | |
|
||||
| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`ccd_iterations<option-ccd_iterations>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | | |
|
||||
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| option |br| |_| |L| | | .. table:: |
|
||||
@@ -41,6 +41,8 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sleep<option-flag-sleep>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
|
||||
| :ref:`compiler | \* | :class: mjcf-attributes |
|
||||
@@ -201,7 +203,7 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`mocap<body-mocap>` | :ref:`axisangle<body-axisangle>` | :ref:`xyaxes<body-xyaxes>` | :ref:`zaxis<body-zaxis>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`euler<body-euler>` | :ref:`gravcomp<body-gravcomp>` | :ref:`user<body-user>` | | |
|
||||
| | | | :ref:`euler<body-euler>` | :ref:`gravcomp<body-gravcomp>` | :ref:`sleep<body-sleep>` | :ref:`user<body-user>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| body |br| |_| |L| | | .. table:: |
|
||||
|
||||
@@ -8,6 +8,7 @@ Upcoming version (not yet released)
|
||||
General
|
||||
^^^^^^^^^
|
||||
|
||||
- Initial changes related to sleeping. Feature under development, documentation pending.
|
||||
- Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast :ref:`deformable<CDeformable>`
|
||||
flex object is similar to the "trilinear" option, but it includes curved deformations.
|
||||
- Raise an error if there are name collisions also during parsing.
|
||||
|
||||
+108
-60
@@ -16,40 +16,40 @@
|
||||
// Error: C reference not found
|
||||
// NOLINTBEGIN
|
||||
|
||||
typedef enum mjtState_ { // state elements
|
||||
mjSTATE_TIME = 1<<0, // time
|
||||
mjSTATE_QPOS = 1<<1, // position
|
||||
mjSTATE_QVEL = 1<<2, // velocity
|
||||
mjSTATE_ACT = 1<<3, // actuator activation
|
||||
mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
|
||||
mjSTATE_CTRL = 1<<5, // control
|
||||
mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
|
||||
mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
|
||||
mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
|
||||
mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
|
||||
mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
|
||||
mjSTATE_USERDATA = 1<<11, // user data
|
||||
mjSTATE_PLUGIN = 1<<12, // plugin state
|
||||
typedef enum mjtState_ { // state elements
|
||||
mjSTATE_TIME = 1<<0, // time
|
||||
mjSTATE_QPOS = 1<<1, // position
|
||||
mjSTATE_QVEL = 1<<2, // velocity
|
||||
mjSTATE_ACT = 1<<3, // actuator activation
|
||||
mjSTATE_WARMSTART = 1<<4, // acceleration used for warmstart
|
||||
mjSTATE_CTRL = 1<<5, // control
|
||||
mjSTATE_QFRC_APPLIED = 1<<6, // applied generalized force
|
||||
mjSTATE_XFRC_APPLIED = 1<<7, // applied Cartesian force/torque
|
||||
mjSTATE_EQ_ACTIVE = 1<<8, // enable/disable constraints
|
||||
mjSTATE_MOCAP_POS = 1<<9, // positions of mocap bodies
|
||||
mjSTATE_MOCAP_QUAT = 1<<10, // orientations of mocap bodies
|
||||
mjSTATE_USERDATA = 1<<11, // user data
|
||||
mjSTATE_PLUGIN = 1<<12, // plugin state
|
||||
|
||||
mjNSTATE = 13, // number of state elements
|
||||
mjNSTATE = 13, // number of state elements
|
||||
|
||||
// convenience values for commonly used state specifications
|
||||
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
|
||||
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
|
||||
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
|
||||
mjSTATE_PHYSICS = mjSTATE_QPOS | mjSTATE_QVEL | mjSTATE_ACT,
|
||||
mjSTATE_FULLPHYSICS = mjSTATE_TIME | mjSTATE_PHYSICS | mjSTATE_PLUGIN,
|
||||
mjSTATE_USER = mjSTATE_CTRL | mjSTATE_QFRC_APPLIED | mjSTATE_XFRC_APPLIED |
|
||||
mjSTATE_EQ_ACTIVE | mjSTATE_MOCAP_POS | mjSTATE_MOCAP_QUAT |
|
||||
mjSTATE_USERDATA,
|
||||
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
|
||||
mjSTATE_INTEGRATION = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
|
||||
} mjtState;
|
||||
typedef enum mjtConstraint_ { // type of constraint
|
||||
mjCNSTR_EQUALITY = 0, // equality constraint
|
||||
mjCNSTR_FRICTION_DOF, // dof friction
|
||||
mjCNSTR_FRICTION_TENDON, // tendon friction
|
||||
mjCNSTR_LIMIT_JOINT, // joint limit
|
||||
mjCNSTR_LIMIT_TENDON, // tendon limit
|
||||
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
|
||||
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
|
||||
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
|
||||
typedef enum mjtConstraint_ { // type of constraint
|
||||
mjCNSTR_EQUALITY = 0, // equality constraint
|
||||
mjCNSTR_FRICTION_DOF, // dof friction
|
||||
mjCNSTR_FRICTION_TENDON, // tendon friction
|
||||
mjCNSTR_LIMIT_JOINT, // joint limit
|
||||
mjCNSTR_LIMIT_TENDON, // tendon limit
|
||||
mjCNSTR_CONTACT_FRICTIONLESS, // frictionless contact
|
||||
mjCNSTR_CONTACT_PYRAMIDAL, // frictional contact, pyramidal friction cone
|
||||
mjCNSTR_CONTACT_ELLIPTIC // frictional contact, elliptic friction cone
|
||||
} mjtConstraint;
|
||||
typedef enum mjtConstraintState_ { // constraint state
|
||||
mjCNSTRSTATE_SATISFIED = 0, // constraint satisfied, zero cost (limit, contact)
|
||||
@@ -58,44 +58,49 @@ typedef enum mjtConstraintState_ { // constraint state
|
||||
mjCNSTRSTATE_LINEARPOS, // linear cost, positive side (friction)
|
||||
mjCNSTRSTATE_CONE // squared distance to cone cost (elliptic contact)
|
||||
} mjtConstraintState;
|
||||
typedef enum mjtWarning_ { // warning types
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
mjWARN_VGEOMFULL, // too many visual geoms
|
||||
mjWARN_BADQPOS, // bad number in qpos
|
||||
mjWARN_BADQVEL, // bad number in qvel
|
||||
mjWARN_BADQACC, // bad number in qacc
|
||||
mjWARN_BADCTRL, // bad number in ctrl
|
||||
typedef enum mjtWarning_ { // warning types
|
||||
mjWARN_INERTIA = 0, // (near) singular inertia matrix
|
||||
mjWARN_CONTACTFULL, // too many contacts in contact list
|
||||
mjWARN_CNSTRFULL, // too many constraints
|
||||
mjWARN_VGEOMFULL, // too many visual geoms
|
||||
mjWARN_BADQPOS, // bad number in qpos
|
||||
mjWARN_BADQVEL, // bad number in qvel
|
||||
mjWARN_BADQACC, // bad number in qacc
|
||||
mjWARN_BADCTRL, // bad number in ctrl
|
||||
|
||||
mjNWARNING // number of warnings
|
||||
mjNWARNING // number of warnings
|
||||
} mjtWarning;
|
||||
typedef enum mjtTimer_ { // internal timers
|
||||
typedef enum mjtTimer_ { // internal timers
|
||||
// main api
|
||||
mjTIMER_STEP = 0, // step
|
||||
mjTIMER_FORWARD, // forward
|
||||
mjTIMER_INVERSE, // inverse
|
||||
mjTIMER_STEP = 0, // step
|
||||
mjTIMER_FORWARD, // forward
|
||||
mjTIMER_INVERSE, // inverse
|
||||
|
||||
// breakdown of step/forward
|
||||
mjTIMER_POSITION, // fwdPosition
|
||||
mjTIMER_VELOCITY, // fwdVelocity
|
||||
mjTIMER_ACTUATION, // fwdActuation
|
||||
mjTIMER_CONSTRAINT, // fwdConstraint
|
||||
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
|
||||
mjTIMER_POSITION, // fwdPosition
|
||||
mjTIMER_VELOCITY, // fwdVelocity
|
||||
mjTIMER_ACTUATION, // fwdActuation
|
||||
mjTIMER_CONSTRAINT, // fwdConstraint
|
||||
mjTIMER_ADVANCE, // mj_Euler, mj_implicit
|
||||
|
||||
// breakdown of fwdPosition
|
||||
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
|
||||
mjTIMER_POS_INERTIA, // inertia computations
|
||||
mjTIMER_POS_COLLISION, // collision detection
|
||||
mjTIMER_POS_MAKE, // make constraints
|
||||
mjTIMER_POS_PROJECT, // project constraints
|
||||
mjTIMER_POS_KINEMATICS, // kinematics, com, tendon, transmission
|
||||
mjTIMER_POS_INERTIA, // inertia computations
|
||||
mjTIMER_POS_COLLISION, // collision detection
|
||||
mjTIMER_POS_MAKE, // make constraints
|
||||
mjTIMER_POS_PROJECT, // project constraints
|
||||
|
||||
// breakdown of mj_collision
|
||||
mjTIMER_COL_BROAD, // broadphase
|
||||
mjTIMER_COL_NARROW, // narrowphase
|
||||
mjTIMER_COL_BROAD, // broadphase
|
||||
mjTIMER_COL_NARROW, // narrowphase
|
||||
|
||||
mjNTIMER // number of timers
|
||||
mjNTIMER // number of timers
|
||||
} mjtTimer;
|
||||
typedef enum mjtSleepState_ { // sleep state of an object
|
||||
mjS_STATIC = -1, // object is static
|
||||
mjS_ASLEEP = 0, // object is asleep
|
||||
mjS_AWAKE = 1 // object is awake
|
||||
} mjtSleepState;
|
||||
struct mjContact_ { // result of collision detection functions
|
||||
// contact parameters set by near-phase collision function
|
||||
mjtNum dist; // distance between nearest points; neg: penetration
|
||||
@@ -189,6 +194,10 @@ struct mjData_ {
|
||||
int nA; // number of non-zeros in constraint inverse inertia matrix
|
||||
int nisland; // number of detected constraint islands
|
||||
int nidof; // number of dofs in all islands
|
||||
int ntree_awake; // number of awake trees
|
||||
int nbody_awake; // number of awake dynamic and static bodies
|
||||
int nparent_awake; // number of bodies with awake parents
|
||||
int nv_awake; // number of awake dofs
|
||||
|
||||
// global properties
|
||||
mjtNum time; // simulation time
|
||||
@@ -229,6 +238,9 @@ struct mjData_ {
|
||||
// sensors
|
||||
mjtNum* sensordata; // sensor data array (nsensordata x 1)
|
||||
|
||||
// sleep state
|
||||
int* tree_asleep; // <0: awake; >=0: index cycle of sleeping trees (ntree x 1)
|
||||
|
||||
// plugins
|
||||
int* plugin; // copy of m->plugin, required for deletion (nplugin x 1)
|
||||
uintptr_t* plugin_data; // pointer to plugin-managed data structure (nplugin x 1)
|
||||
@@ -297,6 +309,13 @@ struct mjData_ {
|
||||
// computed by mj_collision/mj_collideTree
|
||||
mjtByte* bvh_active; // was bounding volume checked for collision (nbvh x 1)
|
||||
|
||||
// computed by mj_updateSleep
|
||||
int* tree_awake; // is tree awake; 0: asleep; 1: awake (ntree x 1)
|
||||
int* body_awake; // body sleep state (mjtSleepState) (nbody x 1)
|
||||
int* body_awake_ind; // indices of awake and static bodies (nbody x 1)
|
||||
int* parent_awake_ind; // indices of bodies with awake or static parents (nbody x 1)
|
||||
int* dof_awake_ind; // indices of awake dofs (nv x 1)
|
||||
|
||||
//-------------------- POSITION, VELOCITY dependent
|
||||
|
||||
// computed by mj_fwdVelocity
|
||||
@@ -376,6 +395,12 @@ struct mjData_ {
|
||||
mjtNum* efc_R; // inverse constraint mass (nefc x 1)
|
||||
int* tendon_efcadr; // first efc address involving tendon; -1: none (ntendon x 1)
|
||||
|
||||
// computed by mj_island (island tree structure)
|
||||
int* tree_island; // island id of this tree; -1: none (ntree x 1)
|
||||
int* island_ntree; // number of trees in this island (nisland x 1)
|
||||
int* island_itreeadr; // island start address in itree vector (nisland x 1)
|
||||
int* map_itree2tree; // map from itree to tree (ntree x 1)
|
||||
|
||||
// computed by mj_island (island dof structure)
|
||||
int* dof_island; // island id of this dof; -1: none (nv x 1)
|
||||
int* island_nv; // number of dofs in this island (nisland x 1)
|
||||
@@ -476,8 +501,9 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
|
||||
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||
// experimental features:
|
||||
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
|
||||
mjENBL_SLEEP = 1<<5, // sleeping
|
||||
|
||||
mjNENABLE = 5 // number of enable flags
|
||||
mjNENABLE = 6 // number of enable flags
|
||||
} mjtEnableBit;
|
||||
typedef enum mjtJoint_ { // type of degree of freedom
|
||||
mjJNT_FREE = 0, // global position and orientation (quat) (7)
|
||||
@@ -520,7 +546,7 @@ typedef enum mjtCamLight_ { // tracking mode for camera and light
|
||||
mjCAMLIGHT_TARGETBODYCOM // pos fixed in body, rot tracks target subtree com
|
||||
} mjtCamLight;
|
||||
typedef enum mjtLightType_ { // type of light
|
||||
mjLIGHT_SPOT = 0, // spot
|
||||
mjLIGHT_SPOT = 0, // spot
|
||||
mjLIGHT_DIRECTIONAL, // directional
|
||||
mjLIGHT_POINT, // point
|
||||
mjLIGHT_IMAGE, // image-based
|
||||
@@ -754,21 +780,29 @@ typedef enum mjtSameFrame_ { // frame alignment of bodies with their childr
|
||||
mjSAMEFRAME_BODYROT, // frame orientation is same as body orientation
|
||||
mjSAMEFRAME_INERTIAROT // frame orientation is same as inertia orientation
|
||||
} mjtSameFrame;
|
||||
typedef enum mjtSleepPolicy_ { // per-tree sleep policy
|
||||
mjSLEEP_AUTO = 0, // compiler chooses sleep policy
|
||||
mjSLEEP_AUTO_NEVER, // compiler sleep policy: never
|
||||
mjSLEEP_AUTO_ALLOWED, // compiler sleep policy: allowed
|
||||
mjSLEEP_NEVER, // user sleep policy: never
|
||||
mjSLEEP_ALLOWED, // user sleep policy: allowed
|
||||
mjSLEEP_INIT, // user sleep policy: initialized asleep
|
||||
} mjtSleepPolicy;
|
||||
typedef enum mjtLRMode_ { // mode for actuator length range computation
|
||||
mjLRMODE_NONE = 0, // do not process any actuators
|
||||
mjLRMODE_NONE = 0, // do not process any actuators
|
||||
mjLRMODE_MUSCLE, // process muscle actuators
|
||||
mjLRMODE_MUSCLEUSER, // process muscle and user actuators
|
||||
mjLRMODE_ALL // process all actuators
|
||||
} mjtLRMode;
|
||||
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NONE = 0, // no self-collisions
|
||||
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
|
||||
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
|
||||
mjFLEXSELF_SAP, // use SAP in midphase
|
||||
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
|
||||
} mjtFlexSelf;
|
||||
typedef enum mjtSDFType_ { // signed distance function (SDF) type
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_SINGLE = 0, // single SDF
|
||||
mjSDFTYPE_INTERSECTION, // max(A, B)
|
||||
mjSDFTYPE_MIDSURFACE, // A - B
|
||||
mjSDFTYPE_COLLISION, // A + B + abs(max(A, B))
|
||||
@@ -808,6 +842,9 @@ struct mjOption_ { // physics options
|
||||
mjtNum noslip_tolerance; // noslip solver tolerance
|
||||
mjtNum ccd_tolerance; // convex collision solver tolerance
|
||||
|
||||
// sleep settings
|
||||
mjtNum sleep_tolerance; // sleep velocity tolerance
|
||||
|
||||
// physical constants
|
||||
mjtNum gravity[3]; // gravitational acceleration
|
||||
mjtNum wind[3]; // wind (for lift, drag and viscosity)
|
||||
@@ -1129,6 +1166,14 @@ struct mjModel_ {
|
||||
mjtNum* dof_damping; // damping coefficient (nv x 1)
|
||||
mjtNum* dof_invweight0; // diag. inverse inertia in qpos0 (nv x 1)
|
||||
mjtNum* dof_M0; // diag. inertia in qpos0 (nv x 1)
|
||||
mjtNum* dof_length; // linear: 1; angular: approx. length scale (nv x 1)
|
||||
|
||||
// trees
|
||||
int* tree_bodyadr; // start addr of bodies (ntree x 1)
|
||||
int* tree_bodynum; // number of bodies in tree (ntree x 1)
|
||||
int* tree_dofadr; // start addr of dofs (ntree x 1)
|
||||
int* tree_dofnum; // number of dofs in tree (ntree x 1)
|
||||
int* tree_sleep_policy; // sleep policy (mjtSleepPolicy) (ntree x 1)
|
||||
|
||||
// geoms
|
||||
int* geom_type; // geometric type (mjtGeom) (ngeom x 1)
|
||||
@@ -1396,6 +1441,8 @@ struct mjModel_ {
|
||||
int* tendon_num; // number of objects in tendon's path (ntendon x 1)
|
||||
int* tendon_matid; // material id for rendering (ntendon x 1)
|
||||
int* tendon_group; // group for visibility (ntendon x 1)
|
||||
int* tendon_treenum; // number of trees along tendon's path (ntendon x 1)
|
||||
int* tendon_treeid; // first two trees along tendon's path (ntendon x 2)
|
||||
mjtByte* tendon_limited; // does tendon have length limits (ntendon x 1)
|
||||
mjtByte* tendon_actfrclimited; // does tendon have actuator force limits (ntendon x 1)
|
||||
mjtNum* tendon_width; // width for rendering (ntendon x 1)
|
||||
@@ -1928,6 +1975,7 @@ typedef struct mjsBody_ { // body specification
|
||||
// other
|
||||
mjtByte mocap; // is this a mocap body
|
||||
double gravcomp; // gravity compensation
|
||||
mjtSleepPolicy sleep; // sleep policy
|
||||
mjDoubleVec* userdata; // user data
|
||||
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
|
||||
mjsPlugin plugin; // passive force plugin
|
||||
|
||||
Reference in New Issue
Block a user