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Add mjmDef to C API.

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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
This commit is contained in:
Alessio Quaglino
2024-02-15 06:16:56 -08:00
committed by Copybara-Service
parent 6f958bc404
commit 414a67640a
10 changed files with 405 additions and 263 deletions
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src/user/user_flexcomp.cc
+12 -13
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@@ -78,8 +78,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
// make flexcomp object
bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz) {
def.flex.CopyFromSpec();
mjmFlex* dflex = def.spec.flex;
bool radial = (type==mjFCOMPTYPE_BOX ||
type==mjFCOMPTYPE_CYLINDER ||
type==mjFCOMPTYPE_ELLIPSOID);
@@ -100,7 +99,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
}
// check spacing
double minspace = 2*def.flex.spec.radius + def.flex.spec.margin;
double minspace = 2*dflex->radius + dflex->margin;
if (!direct) {
if (spacing[0]<minspace ||
spacing[1]<minspace ||
@@ -158,7 +157,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
}
// get dim and check
int dim = def.flex.spec.dim;
int dim = dflex->dim;
if (dim<1 || dim>3) {
return comperr(error, "Invalid dim, must be between 1 and 3", error_sz);
}
@@ -166,7 +165,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
// force flatskin shading for box, cylinder and 3D grid
if (type==mjFCOMPTYPE_BOX || type==mjFCOMPTYPE_CYLINDER ||
(type==mjFCOMPTYPE_GRID && dim==3)) {
def.flex.spec.flatskin = true;
dflex->flatskin = true;
}
// check pin sizes
@@ -485,8 +484,8 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
// create edge equality constraint
if (equality) {
mjmEquality* pe = mjm_addEquality(model, &def);
mjm_setDefault(pe->element, model->defaults[0]);
mjmEquality* pe = mjm_addEquality(model, &def.spec);
mjm_setDefault(pe->element, &model->defaults[0]->spec);
pe->type = mjEQ_FLEX;
pe->active = true;
mjm_setString(pe->name1, name.c_str());
@@ -690,7 +689,7 @@ bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
double pos[3];
// set 3D
def.flex.spec.dim = 3;
def.spec.flex->dim = 3;
// add center point
point.push_back(0);
@@ -822,7 +821,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
}
// check dim
if (def.flex.spec.dim!=2) {
if (def.spec.flex->dim!=2) {
return comperr(error, "Flex dim must be 2 in for mesh", error_sz);
}
@@ -1034,7 +1033,7 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
if (entityDim<1 || entityDim>3) {
throw mjCError(NULL, "Entity must be 1D, 2D or 3D");
}
def.flex.spec.dim = entityDim;
def.spec.flex->dim = entityDim;
// read and discard node tags; require range from minNodeTag to maxNodeTag
for (size_t i=0; i<numNodes; i++) {
@@ -1086,7 +1085,7 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
if (entityDim<1 || entityDim>3) {
throw mjCError(NULL, "Entity must be 1D, 2D or 3D");
}
def.flex.spec.dim = entityDim;
def.spec.flex->dim = entityDim;
// check section byte size
if (nodeend-nodebegin < 52+numNodes*4*8) {
@@ -1134,7 +1133,7 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
}
// dimensionality must be same as nodes
if (entityDim!=def.flex.spec.dim) {
if (entityDim!=def.spec.flex->dim) {
throw mjCError(NULL, "Inconsistent dimensionality in Elements");
}
@@ -1183,7 +1182,7 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
}
// dimensionality must be same as nodes
if (entityDim!=def.flex.spec.dim) {
if (entityDim!=def.spec.flex->dim) {
throw mjCError(NULL, "Inconsistent dimensionality in Elements");
}