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rename mjspec api structs and functions mjm -> mjs

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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
This commit is contained in:
Yuval Tassa
2024-03-21 18:04:06 -07:00
committed by Copybara-Service
parent f0ad80f268
commit 4660a297d1
22 changed files with 960 additions and 959 deletions
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src/user/user_composite.cc
+150 -150
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@@ -66,7 +66,7 @@ mjCComposite::mjCComposite(void) {
mj_defaultSolRefImp(solrefsmooth, solimpsmooth);
// plugin variables
mjm_defaultPlugin(plugin);
mjs_defaultPlugin(plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString)&plugin_name;
@@ -223,7 +223,7 @@ void mjCComposite::SetDefault(void) {
// make composite object
bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
// check geom type
@@ -350,7 +350,7 @@ bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz)
bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100];
std::vector<int> face;
@@ -464,13 +464,13 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// create bodies and geoms
for (int i=0; i<uservert.size()/3; i++) {
// create body
mjmBody* b = mjm_addBody(body, NULL);
mjsBody* b = mjs_addBody(body, NULL);
if (!username.empty()) {
mjm_setString(b->name, username[i].c_str());
mjs_setString(b->name, username[i].c_str());
} else {
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
mjm_setString(b->name, txt);
mjs_setString(b->name, txt);
}
// set body position
@@ -481,8 +481,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// add slider joints if none defined
if (!add[mjCOMPKIND_PARTICLE]) {
for (int i=0; i<3; i++) {
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
@@ -493,30 +493,30 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// add user-specified joints
else {
for (auto defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
mjmJoint* jnt = mjm_addJoint(b, &defjnt.spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(b, &defjnt.spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
}
}
// add geom
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
mjm_setDefault(g->element, mjm_getDefault(body->element));
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
// add site
mjmSite* s = mjm_addSite(b, &def[0].spec);
mjm_setDefault(s->element, mjm_getDefault(body->element));
mjsSite* s = mjs_addSite(b, &def[0].spec);
mjs_setDefault(s->element, mjs_getDefault(body->element));
s->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
mjm_setString(s->name, txt);
mjs_setString(s->name, txt);
// add plugin
if (plugin.active) {
mjmPlugin* pplugin = &b->plugin;
mjsPlugin* pplugin = &b->plugin;
mjCPlugin* cplugin = (mjCPlugin*)plugin.instance;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name));
if (i==0 && !cplugin->config_attribs["face"].empty()) {
return comperr(error, "Face attribute already exists in plugin", error_sz);
@@ -560,18 +560,18 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
mju::sprintf_arr(txt2, "%sS%d", prefix.c_str(), v1);
// create tendon
mjmTendon* ten = mjm_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(ten->element, &model->defaults[0]->spec);
mjm_setString(ten->name, txt0);
mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(ten->element, &model->defaults[0]->spec);
mjs_setString(ten->name, txt0);
ten->group = 4;
mjm_wrapSite(ten, txt1);
mjm_wrapSite(ten, txt2);
mjs_wrapSite(ten, txt1);
mjs_wrapSite(ten, txt2);
// add equality constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, mjm_getString(ten->name));
mjs_setString(eq->name1, mjs_getString(ten->name));
}
}
@@ -593,7 +593,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// make grid connected with tendons
bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100], txt1[100], txt2[100];
// check dimensionality
@@ -615,9 +615,9 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// create body
mjmBody* b = mjm_addBody(body, NULL);
mjsBody* b = mjs_addBody(body, NULL);
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
mjm_setString(b->name, txt);
mjs_setString(b->name, txt);
// set body position
b->pos[0] = offset[0] + spacing*(ix - 0.5*count[0]);
@@ -625,18 +625,18 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
b->pos[2] = offset[2];
// add geom
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
mjm_setDefault(g->element, mjm_getDefault(body->element));
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
g->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sG%d_%d", prefix.c_str(), ix, iy);
mjm_setString(g->name, txt);
mjs_setString(g->name, txt);
// add site
mjmSite* s = mjm_addSite(b, &def[0].spec);
mjm_setDefault(s->element, mjm_getDefault(body->element));
mjsSite* s = mjs_addSite(b, &def[0].spec);
mjs_setDefault(s->element, mjs_getDefault(body->element));
s->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
mjm_setString(s->name, txt);
mjs_setString(s->name, txt);
// skip pinned elements
bool skip = false;
@@ -651,12 +651,12 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
}
// add slider joint
mjmJoint* jnt[3];
mjsJoint* jnt[3];
for (int i=0; i<3; i++) {
jnt[i] = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjm_setDefault(jnt[i]->element, mjm_getDefault(body->element));
jnt[i] = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt[i]->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
mjm_setString(jnt[i]->name, txt);
mjs_setString(jnt[i]->name, txt);
jnt[i]->type = mjJNT_SLIDE;
mjuu_setvec(jnt[i]->pos, 0, 0, 0);
mjuu_setvec(jnt[i]->axis, 0, 0, 0);
@@ -682,10 +682,10 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
ten->WrapSite(txt2);
// add equality constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, ten->name.c_str());
mjs_setString(eq->name1, ten->name.c_str());
}
}
}
@@ -709,7 +709,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
// check dim
if (dim!=1) {
return comperr(error, "Cable must be one-dimensional", error_sz);
@@ -723,9 +723,9 @@ bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int er
}
// add name to model
mjmText* pte = mjm_addText(&model->spec);
mjm_setString(pte->name, ("composite_" + prefix).c_str());
mjm_setString(pte->data, ("rope_" + prefix).c_str());
mjsText* pte = mjs_addText(&model->spec);
mjs_setString(pte->name, ("composite_" + prefix).c_str());
mjs_setString(pte->data, ("rope_" + prefix).c_str());
// populate uservert if not specified
if (uservert.empty()) {
@@ -780,7 +780,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int er
mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]) {
mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]) {
char txt_geom[100], txt_site[100], txt_slide[100];
char this_body[100], next_body[100], this_joint[100];
mjtNum dquat[4], this_quat[4];
@@ -836,8 +836,8 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
mju::sprintf_arr(txt_slide, "%sJs%d", prefix.c_str(), ix);
// add body
body = mjm_addBody(body, 0);
mjm_setString(body->name, this_body);
body = mjs_addBody(body, 0);
mjs_setString(body->name, this_body);
if (first) {
mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
offset[1]+uservert[3*ix+1],
@@ -851,9 +851,9 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
}
// add geom
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
mjm_setDefault(geom->element, mjm_getDefault(body->element));
mjm_setString(geom->name, txt_geom);
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
mjs_setString(geom->name, txt_geom);
if (def[0].spec.geom->type==mjGEOM_CYLINDER ||
def[0].spec.geom->type==mjGEOM_CAPSULE) {
mjuu_zerovec(geom->fromto, 6);
@@ -866,11 +866,11 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
// add plugin
if (plugin.active) {
mjmPlugin* pplugin = &body->plugin;
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = (mjElement)plugin.instance;
mjm_setString(pplugin->name, mjm_getString(plugin.name));
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
// update orientation
@@ -878,27 +878,27 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
// add curvature joint
if (!first || strcmp(initial.c_str(), "none")) {
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
mjm_setString(jnt->name, this_joint);
mjs_setString(jnt->name, this_joint);
}
// exclude contact pair
if (!last) {
mjmExclude* exclude = mjm_addExclude(&model->spec);
mjm_setString(exclude->bodyname1, std::string(this_body).c_str());
mjm_setString(exclude->bodyname2, std::string(next_body).c_str());
mjsExclude* exclude = mjs_addExclude(&model->spec);
mjs_setString(exclude->bodyname1, std::string(this_body).c_str());
mjs_setString(exclude->bodyname2, std::string(next_body).c_str());
}
// add site at the boundary
if (last || first) {
mjmSite* site = mjm_addSite(body, &def[0].spec);
mjm_setDefault(site->element, mjm_getDefault(body->element));
mjm_setString(site->name, txt_site);
mjsSite* site = mjs_addSite(body, &def[0].spec);
mjs_setDefault(site->element, mjs_getDefault(body->element));
mjs_setString(site->name, txt_site);
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
mjuu_setvec(site->quat, 1, 0, 0, 0);
}
@@ -908,7 +908,7 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
// make rope
bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz) {
// check dim
if (dim!=1) {
return comperr(error, "Rope must be one-dimensional", error_sz);
@@ -917,7 +917,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
// check root body name prefix
char txt[200];
mju::sprintf_arr(txt, "%sB", prefix.c_str());
std::string body_name = mjm_getString(body->name);
std::string body_name = mjs_getString(body->name);
if (std::strncmp(txt, body_name.substr(0, strlen(txt)).c_str(), mju::sizeof_arr(txt))) {
mju::strcat_arr(txt, " must be the beginning of root body name");
return comperr(error, txt, error_sz);
@@ -937,7 +937,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
AddRopeBody(model, body, ox, ox);
// add elements: right
mjmBody* pbody = body;
mjsBody* pbody = body;
for (int ix=ox; ix<count[0]-1; ix++) {
pbody = AddRopeBody(model, pbody, ix, ix+1);
}
@@ -953,20 +953,20 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
char txt2[200];
// add equality constraint
mjmEquality* eq = mjm_addEquality(&model->spec, 0);
mjsEquality* eq = mjs_addEquality(&model->spec, 0);
eq->type = mjEQ_CONNECT;
mju::sprintf_arr(txt, "%sB0", prefix.c_str());
mju::sprintf_arr(txt2, "%sB%d", prefix.c_str(), count[0]-1);
mjm_setString(eq->name1, txt);
mjm_setString(eq->name2, txt2);
mjs_setString(eq->name1, txt);
mjs_setString(eq->name2, txt2);
mjuu_setvec(eq->data, -0.5*spacing, 0, 0);
mju_copy(eq->solref, solrefsmooth, mjNREF);
mju_copy(eq->solimp, solimpsmooth, mjNIMP);
// remove contact between connected bodies
mjmExclude* pair = mjm_addExclude(&model->spec);
mjm_setString(pair->bodyname1, std::string(txt).c_str());
mjm_setString(pair->bodyname2, std::string(txt2).c_str());
mjsExclude* pair = mjs_addExclude(&model->spec);
mjs_setString(pair->bodyname1, std::string(txt).c_str());
mjs_setString(pair->bodyname2, std::string(txt2).c_str());
}
return true;
@@ -975,16 +975,16 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
// add child body for cloth
mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1) {
mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1) {
char txt[100];
bool isroot = (ix==ix1);
double dx = spacing*(ix1-ix);
// add child if not root
if (!isroot) {
body = mjm_addBody(body, 0);
body = mjs_addBody(body, 0);
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), ix1);
mjm_setString(body->name, txt);
mjs_setString(body->name, txt);
// loop
if (type==mjCOMPTYPE_LOOP) {
@@ -1007,10 +1007,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
}
// add geom
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
mjm_setDefault(geom->element, mjm_getDefault(body->element));
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sG%d", prefix.c_str(), ix1);
mjm_setString(geom->name, txt);
mjs_setString(geom->name, txt);
mjuu_setvec(geom->pos, 0, 0, 0);
mjuu_setvec(geom->quat, sqrt(0.5), 0, sqrt(0.5), 0);
@@ -1022,10 +1022,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
// add main joint
for (int i=0; i<2; i++) {
// add joint
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d", prefix.c_str(), i, ix1);
mjm_setString(jnt->name, txt);
mjs_setString(jnt->name, txt);
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
@@ -1035,37 +1035,37 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
// add twist joint
if (add[mjCOMPKIND_TWIST]) {
// add joint
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJT%d", prefix.c_str(), ix1);
mjm_setString(jnt->name, txt);
mjs_setString(jnt->name, txt);
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 1, 0, 0);
// add constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
// add stretch joint
if (add[mjCOMPKIND_STRETCH]) {
// add joint
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJS%d", prefix.c_str(), ix1);
mjm_setString(jnt->name, txt);
mjs_setString(jnt->name, txt);
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 1, 0, 0);
// add constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
mjs_setString(eq->name1, mjs_getString(jnt->name));
}
return body;
@@ -1110,7 +1110,7 @@ void mjCComposite::BoxProject(double* pos) {
// make 3d box, ellipsoid or cylinder
bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100];
// check dim
@@ -1119,11 +1119,11 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
}
// center geom: two times bigger
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
mjm_setDefault(geom->element, mjm_getDefault(body->element));
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
geom->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sGcenter", prefix.c_str());
mjm_setString(geom->name, txt);
mjs_setString(geom->name, txt);
mjuu_setvec(geom->pos, 0, 0, 0);
geom->size[0] *= 2;
geom->size[1] = 0;
@@ -1143,9 +1143,9 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
iy==0 || iy==count[1]-1 ||
iz==0 || iz==count[2]-1) {
// create body
mjmBody* b = mjm_addBody(body, NULL);
mjsBody* b = mjs_addBody(body, NULL);
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
mjm_setString(b->name, txt);
mjs_setString(b->name, txt);
// set body position (+/- 1)
b->pos[0] = 2.0*ix/(count[0]-1) - 1;
@@ -1160,10 +1160,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
mjuu_normvec(b->alt.zaxis, 3);
// add geom
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
mjm_setDefault(g->element, mjm_getDefault(body->element));
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sG%d_%d_%d", prefix.c_str(), ix, iy, iz);
mjm_setString(g->name, txt);
mjs_setString(g->name, txt);
// offset inwards, enforce sphere or capsule
if (g->type==mjGEOM_CAPSULE) {
@@ -1174,22 +1174,22 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
}
// add slider joint
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), ix, iy, iz);
mjm_setString(jnt->name, txt);
mjs_setString(jnt->name, txt);
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 1);
// add fix constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_JOINT;
mjm_setString(eq->name1, mjm_getString(jnt->name));
mjs_setString(eq->name1, mjs_getString(jnt->name));
// add joint to tendon
ten->WrapJoint(std::string(mjm_getString(jnt->name)), 1);
ten->WrapJoint(std::string(mjs_getString(jnt->name)), 1);
// add neighbor constraints
for (int i=0; i<3; i++) {
@@ -1203,12 +1203,12 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
char txt2[200];
mju::sprintf_arr(txt2,
"%sJ%d_%d_%d", prefix.c_str(), ix1, iy1, iz1);
mjmEquality* eqn = mjm_addEquality(&model->spec, 0);
mjsEquality* eqn = mjs_addEquality(&model->spec, 0);
mju_copy(eqn->solref, solrefsmooth, mjNREF);
mju_copy(eqn->solimp, solimpsmooth, mjNIMP);
eqn->type = mjEQ_JOINT;
mjm_setString(eqn->name1, txt);
mjm_setString(eqn->name2, txt2);
mjs_setString(eqn->name1, txt);
mjs_setString(eqn->name2, txt2);
}
}
}
@@ -1217,10 +1217,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
}
// finalize fixed tendon
mjmEquality* eqt = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjm_setDefault(eqt->element, &model->defaults[0]->spec);
mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eqt->element, &model->defaults[0]->spec);
eqt->type = mjEQ_TENDON;
mjm_setString(eqt->name1, ten->name.c_str());
mjs_setString(eqt->name1, ten->name.c_str());
// skin
if (skin) {
@@ -1253,10 +1253,10 @@ void mjCComposite::MakeShear(mjCModel* model) {
ten->name = txt;
// equality constraint
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjm_setDefault(eq->element, &model->defaults[0]->spec);
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjs_setDefault(eq->element, &model->defaults[0]->spec);
eq->type = mjEQ_TENDON;
mjm_setString(eq->name1, txt);
mjs_setString(eq->name1, txt);
}
}
}
@@ -1264,18 +1264,18 @@ void mjCComposite::MakeShear(mjCModel* model) {
// copy local vectors to skin
void mjCComposite::CopyIntoSkin(mjmSkin* skin) {
mjm_setInt(skin->face, face.data(), face.size());
mjm_setFloat(skin->vert, vert.data(), vert.size());
mjm_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
mjm_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
mjm_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
mjs_setInt(skin->face, face.data(), face.size());
mjs_setFloat(skin->vert, vert.data(), vert.size());
mjs_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
mjs_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
for (int i=0; i<vertid.size(); i++) {
mjm_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
mjs_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
}
for (int i=0; i< vertweight.size(); i++) {
mjm_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
mjs_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
}
face.clear();
@@ -1295,10 +1295,10 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
int N = count[0]*count[1];
// add skin, set name and material
mjmSkin* skin = mjm_addSkin(&model->spec);
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());
mjs_setString(skin->name, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
skin->group = skingroup;
@@ -1316,7 +1316,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
vert.push_back(0);
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
mjm_appendString(skin->bodyname, txt);
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);
@@ -1426,7 +1426,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
// add bones in 2D
void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeClothBones(mjCModel* model, mjsSkin* skin) {
char txt[100];
int N = count[0]*count[1];
@@ -1441,7 +1441,7 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
}
// bind pose
mjm_appendString(skin->bodyname, txt);
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);
@@ -1459,7 +1459,7 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin) {
char txt[100];
// populate bones
@@ -1473,7 +1473,7 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
}
// bind pose
mjm_appendString(skin->bodyname, txt);
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(ix*spacing);
bindpos.push_back(iy*spacing);
bindpos.push_back(0);
@@ -1492,7 +1492,7 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
// add bones to 1D
void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
char this_body[100];
int N = count[0]*count[1];
@@ -1510,14 +1510,14 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
// bind pose
if (iy==0) {
mjm_appendString(skin->bodyname, this_body);
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].spec.geom->size[1]);
bindpos.push_back(0);
bindquat.push_back(1); bindquat.push_back(0);
bindquat.push_back(0); bindquat.push_back(0);
} else {
mjm_appendString(skin->bodyname, this_body);
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].spec.geom->size[1]);
bindpos.push_back(0);
@@ -1534,7 +1534,7 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin) {
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
@@ -1563,7 +1563,7 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin) {
bindpos.push_back(0);
bindpos.push_back(0);
}
mjm_appendString(skin->bodyname, txt);
mjs_appendString(skin->bodyname, txt);
bindquat.push_back(1);
bindquat.push_back(0);
bindquat.push_back(0);
@@ -1888,10 +1888,10 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
// add skin, set name and material
char txt[100];
mjmSkin* skin = mjm_addSkin(&model->spec);
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());
mjs_setString(skin->name, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
skin->group = skingroup;
@@ -2043,10 +2043,10 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
mju::sprintf_arr(cnt2, "%d", count[2]-1);
// add skin, set name and material
mjmSkin* skin = mjm_addSkin(&model->spec);
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjm_setString(skin->name, txt);
mjm_setString(skin->material, skinmaterial.c_str());
mjs_setString(skin->name, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate;
skin->group = skingroup;
@@ -2191,7 +2191,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
// make one face of 3D skin, box
void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
void mjCComposite::MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side,
int& vcnt, const char* format) {
char txt[100];
@@ -2224,7 +2224,7 @@ void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
mju::sprintf_arr(txt, format, prefix.c_str(), i0, i1);
// bind pose: origin
mjm_appendString(skin->bodyname, txt);
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);
@@ -2246,7 +2246,7 @@ void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
// make one face of 3D skin, smooth
void mjCComposite::MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
void mjCComposite::MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
const std::map<string, int>& vmap, const char* format) {
char txt00[100], txt01[100], txt10[100], txt11[100];
@@ -2281,7 +2281,7 @@ void mjCComposite::MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
}
// bind pose: origin
mjm_appendString(skin->bodyname, txt00);
mjs_appendString(skin->bodyname, txt00);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);