chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add edge ids to flex elements in mjModel.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
plugin/elasticity/elasticity.h
+5 -6
View File
@@ -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];
}