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Remove plugin support from Composite particles.

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This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
This commit is contained in:
Alessio Quaglino
2024-09-09 04:57:34 -07:00
committed by Copybara-Service
parent 44145742a7
commit 4862b9e765
18 changed files with 39 additions and 1963 deletions
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plugin/elasticity/membrane.cc
+7 -17
View File
@@ -123,8 +123,7 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
}
// vertex positions
mjtNum* body_pos =
f0 < 0 ? m->body_pos + 3*i0 : m->flex_xvert0 + 3*m->flex_vertadr[f0];
mjtNum* body_pos = m->flex_xvert0 + 3*m->flex_vertadr[f0];
// generate triangles from the vertices
nt = CreateStencils<Stencil2D>(elements, edges, simplex, edgeidx);
@@ -136,7 +135,7 @@ Membrane::Membrane(const mjModel* m, mjData* d, int instance, mjtNum nu,
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
for (int i = 0; i < kNumVerts; i++) {
int bi = f0 < 0 ? i0+v[i] : m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
int bi = m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
if (bi && m->body_plugin[bi] != instance) {
mju_error("Body %d does not have plugin instance %d", bi, instance);
}
@@ -182,12 +181,7 @@ void Membrane::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum kD = damping / m->opt.timestep;
// update edge lengths
if (f0 < 0) {
UpdateSquaredLengths(deformed, edges, d->xpos+3*i0);
} else {
UpdateSquaredLengthsFlex(deformed,
d->flexedge_length + m->flex_edgeadr[f0]);
}
UpdateSquaredLengthsFlex(deformed, d->flexedge_length + m->flex_edgeadr[f0]);
// we add generalized Rayleigh damping as decribed in Section 5.2 of
// Kharevych et al., "Geometric, Variational Integrators for Computer
@@ -199,18 +193,14 @@ void Membrane::Compute(const mjModel* m, mjData* d, int instance) {
}
// compute gradient of elastic energy and insert into passive force
int flex_vertadr = f0 < 0 ? -1 : m->flex_vertadr[f0];
mjtNum* xpos = f0 < 0 ? d->xpos + 3*i0 : d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive + (f0 < 0 ? m->body_dofadr[i0] : 0);
int flex_vertadr = m->flex_vertadr[f0];
mjtNum* xpos = d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive;
ComputeForce<Stencil2D>(force, elements, metric, elongation, m, xpos);
// insert into passive force
if (f0 < 0) {
mju_addTo(qfrc, force.data(), force.size());
} else {
AddFlexForce(qfrc, force, m, d, xpos, f0);
}
AddFlexForce(qfrc, force, m, d, xpos, f0);
// update stored lengths
if (kD > 0) {
plugin/elasticity/solid.cc
+7 -17
View File
@@ -131,8 +131,7 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
}
// vertex positions
mjtNum* body_pos =
f0 < 0 ? m->body_pos + 3*i0 : m->flex_xvert0 + 3*m->flex_vertadr[f0];
mjtNum* body_pos = m->flex_xvert0 + 3*m->flex_vertadr[f0];
// generate tetrahedra from the vertices
nt = CreateStencils<Stencil3D>(elements, edges, simplex, edgeidx);
@@ -144,7 +143,7 @@ Solid::Solid(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
for (int t = 0; t < nt; t++) {
int* v = elements[t].vertices;
for (int i = 0; i < kNumVerts; i++) {
int bi = f0 < 0 ? i0+v[i] : m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
int bi = m->flex_vertbodyid[m->flex_vertadr[f0]+v[i]];
if (bi && m->body_plugin[bi] != instance) {
mju_error("Body %d does not have plugin instance %d", bi, instance);
}
@@ -189,12 +188,7 @@ void Solid::Compute(const mjModel* m, mjData* d, int instance) {
mjtNum kD = damping / m->opt.timestep;
// update edge lengths
if (f0 < 0) {
UpdateSquaredLengths(deformed, edges, d->xpos+3*i0);
} else {
UpdateSquaredLengthsFlex(deformed,
d->flexedge_length + m->flex_edgeadr[f0]);
}
UpdateSquaredLengthsFlex(deformed, d->flexedge_length + m->flex_edgeadr[f0]);
// we add generalized Rayleigh damping as decribed in Section 5.2 of
// Kharevych et al., "Geometric, Variational Integrators for Computer
@@ -206,18 +200,14 @@ void Solid::Compute(const mjModel* m, mjData* d, int instance) {
}
// compute gradient of elastic energy and insert into passive force
int flex_vertadr = f0 < 0 ? -1 : m->flex_vertadr[f0];
mjtNum* xpos = f0 < 0 ? d->xpos + 3*i0 : d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive + (f0 < 0 ? m->body_dofadr[i0] : 0);
int flex_vertadr = m->flex_vertadr[f0];
mjtNum* xpos = d->flexvert_xpos + 3*flex_vertadr;
mjtNum* qfrc = d->qfrc_passive;
ComputeForce<Stencil3D>(force, elements, metric, elongation, m, xpos);
// insert into passive force
if (f0 < 0) {
mju_addTo(qfrc, force.data(), force.size());
} else {
AddFlexForce(qfrc, force, m, d, xpos, f0);
}
AddFlexForce(qfrc, force, m, d, xpos, f0);
// update stored lengths
if (kD > 0) {