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Particles with arbitrary geoms and joints.

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Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
This commit is contained in:
Alessio Quaglino
2022-11-07 03:21:36 -08:00
committed by Copybara-Service
parent fd4d47e4a5
commit 3b89b0fd30
10 changed files with 283 additions and 51 deletions
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src/xml/xml_native_reader.cc
+37 -19
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@@ -263,8 +263,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"joint", "*", "15", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix",
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction"},
{"tendon", "*", "17", "kind", "group", "stiffness", "damping",
@@ -670,10 +670,11 @@ const mjMap comp_map[mjNCOMPTYPES] = {
// composite joint kind
const mjMap jkind_map[3] = {
const mjMap jkind_map[4] = {
{"main", mjCOMPKIND_JOINT},
{"twist", mjCOMPKIND_TWIST},
{"stretch", mjCOMPKIND_STRETCH}
{"stretch", mjCOMPKIND_STRETCH},
{"particle", mjCOMPKIND_PARTICLE}
};
@@ -1978,28 +1979,45 @@ void mjXReader::OneComposite(XMLElement* elem, mjCBody* pbody, mjCDef* def) {
while (ejnt) {
// kind
int kind;
MapValue(ejnt, "kind", &kind, jkind_map, 3, true);
MapValue(ejnt, "kind", &kind, jkind_map, 4, true);
// create a new element if this kind already exists
if (comp.add[kind]) {
char error[200];
if (!comp.AddDefaultJoint(error, 200)) {
throw mjXError(elem, error);
}
}
comp.add[kind] = true;
// get element
mjCDef *el = &comp.defjoint[(mjtCompKind)kind].back();
// particle joint
if (MapValue(ejnt, "type", &n, joint_map, joint_sz)) {
el->joint.type = (mjtJoint)n;
}
ReadAttr(ejnt, "axis", 3, el->joint.axis, text);
// solreffix, solimpfix
ReadAttr(ejnt, "solreffix", mjNREF, comp.def[kind].equality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, comp.def[kind].equality.solimp, text, false, false);
ReadAttr(ejnt, "solreffix", mjNREF, el->equality.solref, text, false, false);
ReadAttr(ejnt, "solimpfix", mjNIMP, el->equality.solimp, text, false, false);
// joint attributes
MapValue(elem, "limited", &comp.def[kind].joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &comp.def[kind].joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, comp.def[kind].joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, comp.def[kind].joint.solimp_limit, text, false, false);
MapValue(elem, "limited", &el->joint.limited, TFAuto_map, 3);
ReadAttrInt(ejnt, "group", &el->joint.group);
ReadAttr(ejnt, "solreflimit", mjNREF, el->joint.solref_limit, text, false, false);
ReadAttr(ejnt, "solimplimit", mjNIMP, el->joint.solimp_limit, text, false, false);
ReadAttr(ejnt,
"solreffriction", mjNREF, comp.def[kind].joint.solref_friction, text, false, false);
"solreffriction", mjNREF, el->joint.solref_friction, text, false, false);
ReadAttr(ejnt,
"solimpfriction", mjNIMP, comp.def[kind].joint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &comp.def[kind].joint.stiffness, text);
ReadAttr(ejnt, "range", 2, comp.def[kind].joint.range, text);
ReadAttr(ejnt, "margin", 1, &comp.def[kind].joint.margin, text);
ReadAttr(ejnt, "armature", 1, &comp.def[kind].joint.armature, text);
ReadAttr(ejnt, "damping", 1, &comp.def[kind].joint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &comp.def[kind].joint.frictionloss, text);
"solimpfriction", mjNIMP, el->joint.solimp_friction, text, false, false);
ReadAttr(ejnt, "stiffness", 1, &el->joint.stiffness, text);
ReadAttr(ejnt, "range", 2, el->joint.range, text);
ReadAttr(ejnt, "margin", 1, &el->joint.margin, text);
ReadAttr(ejnt, "armature", 1, &el->joint.armature, text);
ReadAttr(ejnt, "damping", 1, &el->joint.damping, text);
ReadAttr(ejnt, "frictionloss", 1, &el->joint.frictionloss, text);
// advance
ejnt = ejnt->NextSiblingElement("joint");