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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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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
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@@ -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 ) \