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Add edge ids to flex elements in mjModel.

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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
This commit is contained in:
Alessio Quaglino
2024-09-16 06:56:09 -07:00
committed by Copybara-Service
parent 9d73211757
commit 31abd7900a
18 changed files with 84 additions and 131 deletions
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doc/includes/references.h
+3
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@@ -899,6 +899,7 @@ struct mjModel_ {
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexelemedge; // number of element edge ids in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertices with texture coordinates
@@ -1152,6 +1153,7 @@ struct mjModel_ {
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
int* flex_evpairadr; // first evpair address (nflex x 1)
@@ -1160,6 +1162,7 @@ struct mjModel_ {
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
include/mujoco/mjmodel.h
+3
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@@ -609,6 +609,7 @@ struct mjModel_ {
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexelemedge; // number of element edge ids in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertices with texture coordinates
@@ -862,6 +863,7 @@ struct mjModel_ {
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_elemedgeadr; // first element edge id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
int* flex_evpairadr; // first evpair address (nflex x 1)
@@ -870,6 +872,7 @@ struct mjModel_ {
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
include/mujoco/mjxmacro.h
+3
View File
@@ -85,6 +85,7 @@
X ( nflexedge ) \
X ( nflexelem ) \
X ( nflexelemdata ) \
X ( nflexelemedge ) \
X ( nflexshelldata ) \
X ( nflexevpair ) \
XMJV( nflextexcoord ) \
@@ -331,6 +332,7 @@
XMJV( int, flex_elemadr, nflex, 1 ) \
XMJV( int, flex_elemnum, nflex, 1 ) \
XMJV( int, flex_elemdataadr, nflex, 1 ) \
X ( int, flex_elemedgeadr, nflex, 1 ) \
XMJV( int, flex_shellnum, nflex, 1 ) \
XMJV( int, flex_shelldataadr, nflex, 1 ) \
X ( int, flex_evpairadr, nflex, 1 ) \
@@ -339,6 +341,7 @@
X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_edge, nflexedge, 2 ) \
XMJV( int, flex_elem, nflexelemdata, 1 ) \
X ( int, flex_elemedge, nflexelemedge, 1 ) \
XMJV( int, flex_elemlayer, nflexelem, 1 ) \
XMJV( int, flex_shell, nflexshelldata,1 ) \
X ( int, flex_evpair, nflexevpair, 2 ) \
introspect/structs.py
+19
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@@ -918,6 +918,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of element vertex ids in all flexes',
),
StructFieldDecl(
name='nflexelemedge',
type=ValueType(name='int'),
doc='number of element edge ids in all flexes',
),
StructFieldDecl(
name='nflexshelldata',
type=ValueType(name='int'),
@@ -2337,6 +2342,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='first element vertex id address (nflex x 1)',
),
StructFieldDecl(
name='flex_elemedgeadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='first element edge id address (nflex x 1)',
),
StructFieldDecl(
name='flex_shellnum',
type=PointerType(
@@ -2393,6 +2405,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='element vertex ids (dim+1 per elem) (nflexelemdata x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='flex_elemedge',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='element edge ids (nflexelemedge x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='flex_elemlayer',
type=PointerType(
plugin/elasticity/elasticity.cc
-61
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@@ -19,72 +19,11 @@
#include <cstdlib>
#include <sstream>
#include <string>
#include <utility>
#include <vector>
#include <unordered_map>
#include <mujoco/mujoco.h>
namespace mujoco::plugin::elasticity {
template <typename T>
int CreateStencils(std::vector<T>& elements,
std::vector<std::pair<int, int>>& edges,
const std::vector<int>& simplex,
const std::vector<int>& edgeidx) {
int ne = 0;
int nt = simplex.size() / T::kNumVerts;
elements.resize(nt);
for (int t = 0; t < nt; t++) {
for (int v = 0; v < T::kNumVerts; v++) {
elements[t].vertices[v] = simplex[T::kNumVerts*t+v];
}
}
// map from edge vertices to their index in `edges` vector
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
// loop over all tetrahedra
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
// compute edges to vertices map for fast computations
for (int e = 0; e < T::kNumEdges; e++) {
auto pair = std::pair(
std::min(v[T::edge[e][0]], v[T::edge[e][1]]),
std::max(v[T::edge[e][0]], v[T::edge[e][1]])
);
// if edge is already present in the vector only store its index
auto [it, inserted] = edge_indices.insert({pair, ne});
if (inserted) {
edges.push_back(pair);
elements[t].edges[e] = ne++;
} else {
elements[t].edges[e] = it->second;
}
if (!edgeidx.empty()) { // SHOULD NOT OCCUR
if (elements[t].edges[e] != edgeidx[T::kNumEdges*t+e]) {
mju_error("edge ordering is incoherent between flex and plugin");
}
}
}
}
return nt;
}
template int CreateStencils<Stencil2D>(std::vector<Stencil2D>& elements,
std::vector<std::pair<int, int>>& edges,
const std::vector<int>& simplex,
const std::vector<int>& edgeidx);
template int CreateStencils<Stencil3D>(std::vector<Stencil3D>& elements,
std::vector<std::pair<int, int>>& edges,
const std::vector<int>& simplex,
const std::vector<int>& edgeidx);
void String2Vector(const std::string& txt, std::vector<int>& vec) {
std::stringstream strm(txt);
vec.clear();
plugin/elasticity/elasticity.h
+5 -6
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@@ -65,20 +65,19 @@ void inline GradSquaredLengths(mjtNum gradient[T::kNumEdges][2][3],
template <typename T>
inline void ComputeForce(std::vector<mjtNum>& qfrc_passive,
const std::vector<T>& elements,
const std::vector<mjtNum>& elongationglob,
const mjModel* m, int flex,
const mjtNum* xpos) {
mju_zero(qfrc_passive.data(), qfrc_passive.size());
mjtNum* k = m->flex_stiffness + 21 * m->flex_elemadr[flex];
if (elements.size() != m->flex_elemnum[flex]) {
mju_error("plugin stencil does not match flex stencil");
}
int dim = m->flex_dim[flex];
const int* elem = m->flex_elem + m->flex_elemdataadr[flex];
const int* edgeelem = m->flex_elemedge + m->flex_elemedgeadr[flex];
// compute force element-by-element
for (int t = 0; t < m->flex_elemnum[flex]; t++) {
const int* v = elements[t].vertices;
const int* v = elem + (dim+1) * t;
// compute length gradient with respect to dofs
mjtNum gradient[T::kNumEdges][2][3];
@@ -87,7 +86,7 @@ inline void ComputeForce(std::vector<mjtNum>& qfrc_passive,
// extract elongation of edges belonging to this element
mjtNum elongation[T::kNumEdges];
for (int e = 0; e < T::kNumEdges; e++) {
int idx = elements[t].edges[e];
int idx = edgeelem[t * T::kNumEdges + e];
elongation[e] = elongationglob[idx];
}
plugin/elasticity/membrane.cc
+7 -14
View File
@@ -87,10 +87,7 @@ std::optional<Membrane> Membrane::Create(const mjModel* m, mjData* d,
strtod(mj_getPluginConfig(m, instance, "thickness"), nullptr);
mjtNum damp =
strtod(mj_getPluginConfig(m, instance, "damping"), nullptr);
std::vector<int> face, edge;
String2Vector(mj_getPluginConfig(m, instance, "face"), face);
String2Vector(mj_getPluginConfig(m, instance, "edge"), edge);
return Membrane(m, d, instance, nu, E, thick, damp, face, edge);
return Membrane(m, d, instance, nu, E, thick, damp);
} else {
mju_warning("Invalid parameter specification in shell plugin");
return std::nullopt;
@@ -99,9 +96,7 @@ std::optional<Membrane> Membrane::Create(const mjModel* m, mjData* d,
// plugin constructor
Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
mjtNum E, mjtNum thick, mjtNum damp,
const std::vector<int>& simplex,
const std::vector<int>& edgeidx)
mjtNum E, mjtNum thick, mjtNum damp)
: f0(-1), damping(damp), thickness(thick) {
// count plugin bodies
nv = ne = 0;
@@ -126,12 +121,10 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
// vertex positions
mjtNum* body_pos = m->flex_xvert0 + 3*m->flex_vertadr[f0];
// generate triangles from the vertices
nt = CreateStencils<Stencil2D>(elements, edges, simplex, edgeidx);
// loop over all triangles
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
const int* elem = m->flex_elem + m->flex_elemdataadr[f0];
for (int t = 0; t < m->flex_elemnum[f0]; t++) {
const int* v = elem + (m->flex_dim[f0]+1) * t;
for (int i = 0; i < kNumVerts; i++) {
int bi = m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
if (bi && m->body_plugin[bi] != instance) {
@@ -163,7 +156,7 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
}
// allocate array
ne = edges.size();
ne = m->flex_edgenum[f0];
elongation.assign(ne, 0);
force.assign(3*nv, 0);
}
@@ -195,7 +188,7 @@ void Membrane::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum* xpos = d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive;
ComputeForce<Stencil2D>(force, elements, elongation, m, f0, xpos);
ComputeForce<Stencil2D>(force, elongation, m, f0, xpos);
// insert into passive force
AddFlexForce(qfrc, force, m, d, xpos, f0);
plugin/elasticity/membrane.h
+1 -7
View File
@@ -44,13 +44,8 @@ class Membrane {
int i0; // index of first body
int nc; // number of quads in the grid
int nv; // number of vertices (bodies) in the Membrane
int nt; // number of area elements (triangles)
int ne; // number of edges in the Membrane
// connectivity info for mapping tetrahedra to edges and vertices
std::vector<Stencil2D> elements; // triangles (nt x 6)
std::vector<std::pair<int, int> > edges; // edge to vertex map (ne x 2)
// precomputed quantities
std::vector<mjtNum> prev; // previous-step lengths (ne x 1)
std::vector<mjtNum> elongation; // edge elongation (ne x 1)
@@ -61,8 +56,7 @@ class Membrane {
private:
Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
mjtNum thick, mjtNum damp, const std::vector<int>& simplex,
const std::vector<int>& edgeidx);
mjtNum thick, mjtNum damp);
};
} // namespace mujoco::plugin::elasticity
plugin/elasticity/solid.cc
+7 -13
View File
@@ -93,10 +93,7 @@ std::optional<Solid> Solid::Create(const mjModel* m, mjData* d, int instance) {
mjtNum E = strtod(mj_getPluginConfig(m, instance, "young"), nullptr);
mjtNum damp =
strtod(mj_getPluginConfig(m, instance, "damping"), nullptr);
std::vector<int> face, edge;
String2Vector(mj_getPluginConfig(m, instance, "face"), face);
String2Vector(mj_getPluginConfig(m, instance, "edge"), edge);
return Solid(m, d, instance, nu, E, damp, face, edge);
return Solid(m, d, instance, nu, E, damp);
} else {
mju_warning("Invalid parameter specification in solid plugin");
return std::nullopt;
@@ -105,8 +102,7 @@ std::optional<Solid> Solid::Create(const mjModel* m, mjData* d, int instance) {
// plugin constructor
Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
mjtNum damp, const std::vector<int>& simplex,
const std::vector<int>& edgeidx)
mjtNum damp)
: f0(-1), damping(damp) {
// count plugin bodies
nv = ne = 0;
@@ -134,12 +130,10 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
// vertex positions
mjtNum* body_pos = m->flex_xvert0 + 3*m->flex_vertadr[f0];
// generate tetrahedra from the vertices
nt = CreateStencils<Stencil3D>(elements, edges, simplex, edgeidx);
// loop over all tetrahedra
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
const int* elem = m->flex_elem + m->flex_elemdataadr[f0];
for (int t = 0; t < m->flex_elemnum[f0]; t++) {
const int* v = elem + (m->flex_dim[f0]+1) * t;
for (int i = 0; i < kNumVerts; i++) {
int bi = m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
if (bi && m->body_plugin[bi] != instance) {
@@ -170,7 +164,7 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
}
// allocate array
ne = edges.size();
ne = m->flex_edgenum[f0];
elongation.assign(ne, 0);
force.assign(3*nv, 0);
}
@@ -202,7 +196,7 @@ void Solid::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum* xpos = d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive;
ComputeForce<Stencil3D>(force, elements, elongation, m, f0, xpos);
ComputeForce<Stencil3D>(force, elongation, m, f0, xpos);
// insert into passive force
AddFlexForce(qfrc, force, m, d, xpos, f0);
plugin/elasticity/solid.h
+1 -7
View File
@@ -42,13 +42,8 @@ class Solid {
int i0; // index of first body
int nc; // number of cubes in the grid
int nv; // number of vertices (bodies) in the solid
int nt; // number of volumetric elements (tetrahedra)
int ne; // number of edges in the solid
// connectivity info for mapping tetrahedra to edges and vertices
std::vector<Stencil3D> elements; // 4 vertices and 6 edges (nt x 10)
std::vector<std::pair<int, int> > edges; // edge to vertex map (ne x 2)
// precomputed quantities
std::vector<mjtNum> prev; // previous-step lengths (ne x 1)
std::vector<mjtNum> elongation; // edge elongation (ne x 1)
@@ -58,8 +53,7 @@ class Solid {
private:
Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
mjtNum damp, const std::vector<int>& simplex,
const std::vector<int>& edgeidx);
mjtNum damp);
};
} // namespace mujoco::plugin::elasticity
src/engine/engine_io.c
+6 -3
View File
@@ -461,7 +461,7 @@ void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex,
@@ -507,6 +507,7 @@ void mj_makeModel(mjModel** dest,
m->nflexedge = nflexedge;
m->nflexelem = nflexelem;
m->nflexelemdata = nflexelemdata;
m->nflexelemedge = nflexelemedge;
m->nflexshelldata = nflexshelldata;
m->nflexevpair = nflexevpair;
m->nflextexcoord = nflextexcoord;
@@ -634,7 +635,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexshelldata,
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
@@ -795,7 +796,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63]);
ints[63], ints[64]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);
@@ -2097,9 +2098,11 @@ const char* mj_validateReferences(const mjModel* m) {
X(flex_evpairadr, nflex, nflexevpair , m->flex_evpairnum ) \
X(flex_texcoordadr, nflex, nflextexcoord , 0 ) \
X(flex_elemdataadr, nflex, nflexelemdata , 0 ) \
X(flex_elemedgeadr, nflex, nflexelemedge , 0 ) \
X(flex_shelldataadr, nflex, nflexshelldata, 0 ) \
X(flex_edge, nflexedge*2, nflexvert , 0 ) \
X(flex_elem, nflexelemdata, nflexvert , 0 ) \
X(flex_elemedge, nflexelemedge, nflexedge , 0 ) \
X(flex_shell, nflexshelldata, nflexvert , 0 ) \
X(flex_bvhadr, nflex, nbvh , m->flex_bvhnum ) \
X(skin_matid, nskin, nmat , 0 ) \
src/engine/engine_io.h
+4 -4
View File
@@ -54,10 +54,10 @@ void mj_defaultStatistic(mjStatistic* stat);
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexshelldata, int nflexevpair,
int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
int nmeshtexcoord, int nmeshface, int nmeshgraph, int nskin, int nskinvert, int nskintexvert,
int nskinface, int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
int nnumeric, int nnumericdata, int ntext, int ntextdata,
src/user/user_mesh.cc
+4 -5
View File
@@ -2386,7 +2386,6 @@ struct PairHash
};
// simplex connectivity
constexpr int kNumEdges[3] = {1, 3, 6};
constexpr int eledge[3][6][2] = {{{ 0, 1}, {-1, -1}, {-1, -1},
{-1, -1}, {-1, -1}, {-1, -1}},
{{ 1, 2}, { 2, 0}, { 0, 1},
@@ -2637,7 +2636,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
// create edges
std::vector<int> edgeidx(elem_.size()*kNumEdges[dim-1]);
edgeidx_.assign(elem_.size()*kNumEdges[dim-1]/(dim+1), 0);
// map from edge vertices to their index in `edges` vector
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
@@ -2656,9 +2655,9 @@ void mjCFlex::Compile(const mjVFS* vfs) {
if (inserted) {
edge.push_back(pair);
edgeidx[f*kNumEdges[dim-1]+e] = nedge++;
edgeidx_[f*kNumEdges[dim-1]+e] = nedge++;
} else {
edgeidx[f*kNumEdges[dim-1]+e] = it->second;
edgeidx_[f*kNumEdges[dim-1]+e] = it->second;
}
}
}
@@ -2669,7 +2668,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
// add plugins
std::string userface, useredge;
userface = VectorToString(elem_);
useredge = VectorToString(edgeidx);
useredge = VectorToString(edgeidx_);
for (const auto& vbodyid : vertbodyid) {
if (model->Bodies()[vbodyid]->plugin.instance) {
src/user/user_model.cc
+8 -2
View File
@@ -654,6 +654,7 @@ void mjCModel::Clear() {
nflexedge = 0;
nflexelem = 0;
nflexelemdata = 0;
nflexelemedge = 0;
nflexshelldata = 0;
nflexevpair = 0;
nflextexcoord = 0;
@@ -1545,6 +1546,7 @@ void mjCModel::SetSizes() {
nflexedge += flexes_[i]->nedge;
nflexelem += flexes_[i]->nelem;
nflexelemdata += flexes_[i]->nelem * (flexes_[i]->dim + 1);
nflexelemedge += flexes_[i]->nelem * mjCFlex::kNumEdges[flexes_[i]->dim - 1];
nflexshelldata += (int)flexes_[i]->shell.size();
nflexevpair += (int)flexes_[i]->evpair.size()/2;
}
@@ -2409,7 +2411,7 @@ void mjCModel::CopyTree(mjModel* m) {
// copy objects outside kinematic tree
void mjCModel::CopyObjects(mjModel* m) {
int adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
int edge_adr, elem_adr, elemdata_adr, shelldata_adr, evpair_adr;
int edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
int bonevert_adr, graph_adr, data_adr, bvh_adr;
// sizes outside call to mj_makeModel
@@ -2491,6 +2493,7 @@ void mjCModel::CopyObjects(mjModel* m) {
edge_adr = 0;
elem_adr = 0;
elemdata_adr = 0;
elemedge_adr = 0;
shelldata_adr = 0;
evpair_adr = 0;
texcoord_adr = 0;
@@ -2526,6 +2529,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->flex_edgenum[i] = pfl->nedge;
m->flex_elemadr[i] = elem_adr;
m->flex_elemdataadr[i] = elemdata_adr;
m->flex_elemedgeadr[i] = elemedge_adr;
m->flex_shellnum[i] = (int)pfl->shell.size()/pfl->dim;
m->flex_shelldataadr[i] = m->flex_shellnum[i] ? shelldata_adr : -1;
if (pfl->evpair.empty()) {
@@ -2545,6 +2549,7 @@ void mjCModel::CopyObjects(mjModel* m) {
}
m->flex_elemnum[i] = pfl->nelem;
memcpy(m->flex_elem + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));
memcpy(m->flex_elemedge + elemedge_adr, pfl->edgeidx_.data(), pfl->edgeidx_.size()*sizeof(int));
memcpy(m->flex_elemlayer + elem_adr, pfl->elemlayer.data(), pfl->nelem*sizeof(int));
if (m->flex_shellnum[i]) {
memcpy(m->flex_shell + shelldata_adr, pfl->shell.data(), pfl->shell.size()*sizeof(int));
@@ -2616,6 +2621,7 @@ void mjCModel::CopyObjects(mjModel* m) {
edge_adr += pfl->nedge;
elem_adr += pfl->nelem;
elemdata_adr += (pfl->dim+1) * pfl->nelem;
elemedge_adr += (pfl->kNumEdges[pfl->dim-1]) * pfl->nelem;
shelldata_adr += (int)pfl->shell.size();
evpair_adr += (int)pfl->evpair.size()/2;
texcoord_adr += (int)pfl->texcoord_.size()/2;
@@ -3897,7 +3903,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexshelldata, nflexevpair, nflextexcoord,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
src/user/user_model.h
+1
View File
@@ -90,6 +90,7 @@ class mjCModel_ : public mjsElement {
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexelemedge; // number of element edges in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes
src/user/user_objects.h
+3
View File
@@ -694,6 +694,7 @@ class mjCFlex_ : public mjCBase {
std::vector<double> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::vector<double> elemaabb_; // element bounding volume
std::vector<int> edgeidx_; // element edge ids
// variable-size data
std::vector<std::string> vertbody_; // vertex body names
@@ -741,6 +742,8 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord
static constexpr int kNumEdges[3] = {1, 3, 6}; // number of edges per element indexed by dim
private:
void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH
test/plugin/elasticity/elasticity_test.cc
+6 -9
View File
@@ -138,8 +138,6 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mjData* d = mj_makeData(m);
auto* membrane =
reinterpret_cast<plugin::elasticity::Membrane*>(d->plugin_data[0]);
mj_kinematics(m, d);
mj_flex(m, d);
@@ -149,14 +147,14 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
// trace(strain^2) = 2*scale^2
for (mjtNum scale = 1; scale < 4; scale++) {
for (int t = 0; t < membrane->nt; t++) {
for (int t = 0; t < m->flex_elemnum[0]; t++) {
mjtNum energy = 0;
mjtNum volume = 1./2.;
int idx = 0;
for (int e1 = 0; e1 < 3; e1++) {
for (int e2 = e1; e2 < 3; e2++) {
int idx1 = membrane->elements[t].edges[e1] + m->flex_edgeadr[0];
int idx2 = membrane->elements[t].edges[e2] + m->flex_edgeadr[0];
int idx1 = m->flex_elemedge[3*t+e1 + m->flex_elemedgeadr[0]];
int idx2 = m->flex_elemedge[3*t+e2 + m->flex_elemedgeadr[0]];
mjtNum elong1 =
scale * m->flexedge_length0[idx1] * m->flexedge_length0[idx1];
mjtNum elong2 =
@@ -221,7 +219,6 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
ASSERT_THAT(m, testing::NotNull()) << error;
mjData* d = mj_makeData(m);
auto* solid = reinterpret_cast<plugin::elasticity::Solid*>(d->plugin_data[0]);
mj_kinematics(m, d);
mj_flex(m, d);
@@ -231,14 +228,14 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
// trace(strain^2) = 3*scale^2
for (mjtNum scale = 1; scale < 4; scale++) {
for (int t = 0; t < solid->nt; t++) {
for (int t = 0; t < m->flex_elemnum[0]; t++) {
mjtNum energy = 0;
mjtNum volume = 1./6.;
int idx = 0;
for (int e1 = 0; e1 < 6; e1++) {
for (int e2 = e1; e2 < 6; e2++) {
int idx1 = solid->elements[t].edges[e1] + m->flex_edgeadr[0];
int idx2 = solid->elements[t].edges[e2] + m->flex_edgeadr[0];
int idx1 = m->flex_elemedge[6*t+e1 + m->flex_elemedgeadr[0]];
int idx2 = m->flex_elemedge[6*t+e2 + m->flex_elemedgeadr[0]];
mjtNum elong1 =
scale * m->flexedge_length0[idx1] * m->flexedge_length0[idx1];
mjtNum elong2 =
unity/Runtime/Bindings/MjBindings.cs
+3
View File
@@ -5184,6 +5184,7 @@ public unsafe struct mjModel_ {
public int nflexedge;
public int nflexelem;
public int nflexelemdata;
public int nflexelemedge;
public int nflexshelldata;
public int nflexevpair;
public int nflextexcoord;
@@ -5405,6 +5406,7 @@ public unsafe struct mjModel_ {
public int* flex_elemadr;
public int* flex_elemnum;
public int* flex_elemdataadr;
public int* flex_elemedgeadr;
public int* flex_shellnum;
public int* flex_shelldataadr;
public int* flex_evpairadr;
@@ -5413,6 +5415,7 @@ public unsafe struct mjModel_ {
public int* flex_vertbodyid;
public int* flex_edge;
public int* flex_elem;
public int* flex_elemedge;
public int* flex_elemlayer;
public int* flex_shell;
public int* flex_evpair;