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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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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();