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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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test/plugin/elasticity/elasticity_test.cc
+6 -9
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@@ -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 =