Remove plugin support from Composite particles.
This functionality is replaced by FlexComp. PiperOrigin-RevId: 672503965 Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
44145742a7
commit
4862b9e765
+11
-201
@@ -301,6 +301,17 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
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}
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}
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// check plugin compatibility
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// TODO: move mujoco.elasticity.cable to the engine
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if (plugin.active) {
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if (type != mjCOMPTYPE_CABLE) {
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return comperr(error, "Only cable composite supports plugins", error_sz);
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}
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if (plugin_name != "mujoco.elasticity.cable") {
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return comperr(error, "Only mujoco.elasticity.cable is supported by composites", error_sz);
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}
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}
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// overwrite plugin name
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if (plugin_instance_name.empty() && plugin.active) {
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plugin_instance_name = "composite" + prefix;
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@@ -372,93 +383,6 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
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}
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}
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// create faces
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if (userface.empty()) {
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if (dim == 3) {
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int cube2tets[6][4] = {{0, 3, 1, 7}, {0, 1, 4, 7},
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{1, 3, 2, 7}, {1, 2, 6, 7},
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{1, 5, 4, 7}, {1, 6, 5, 7}};
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for (int ix = 0; ix < count[0]-1; ix++) {
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for (int iy = 0; iy < count[1]-1; iy++) {
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for (int iz = 0; iz < count[2]-1; iz++) {
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int vert[8] = {
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count[2]*count[1]*(ix+0) + count[2]*(iy+0) + iz+0,
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count[2]*count[1]*(ix+1) + count[2]*(iy+0) + iz+0,
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count[2]*count[1]*(ix+1) + count[2]*(iy+1) + iz+0,
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count[2]*count[1]*(ix+0) + count[2]*(iy+1) + iz+0,
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count[2]*count[1]*(ix+0) + count[2]*(iy+0) + iz+1,
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count[2]*count[1]*(ix+1) + count[2]*(iy+0) + iz+1,
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count[2]*count[1]*(ix+1) + count[2]*(iy+1) + iz+1,
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count[2]*count[1]*(ix+0) + count[2]*(iy+1) + iz+1,
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};
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for (int s = 0; s < 6; s++) {
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for (int v = 0; v < 4; v++) {
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face.push_back(vert[cube2tets[s][v]]);
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}
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}
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}
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}
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}
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} else if (dim == 2) {
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int quad2tri[2][3] = {{0, 1, 2}, {0, 2, 3}};
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for (int ix = 0; ix < count[0]-1; ix++) {
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for (int iy = 0; iy < count[1]-1; iy++) {
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int vert[4] = {
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count[2]*count[1]*(ix+0) + count[2]*(iy+0),
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count[2]*count[1]*(ix+1) + count[2]*(iy+0),
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count[2]*count[1]*(ix+1) + count[2]*(iy+1),
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count[2]*count[1]*(ix+0) + count[2]*(iy+1),
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};
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for (int s = 0; s < 2; s++) {
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for (int v = 0; v < 3; v++) {
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face.push_back(vert[quad2tri[s][v]]);
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}
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}
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}
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}
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}
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userface = VectorToString(face);
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} else {
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dim = 2; // can only load a surface for now
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face = StringToVector<int>(userface);
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for (int i=0; i<face.size(); face[i++]--) {};
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userface = VectorToString(face);
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}
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// compute volume
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std::vector<double> volume(uservert.size()/3);
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double thickness = 1;
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if (dim == 2 && plugin.active) {
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try {
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mjCPlugin* pplugin = static_cast<mjCPlugin*>(plugin.instance);
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thickness = std::stod(pplugin->config_attribs["thickness"], nullptr);
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} catch (const std::invalid_argument& e) {
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return comperr(error, "Invalid thickness attribute", error_sz);
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}
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}
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if (!userface.empty()) {
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face = StringToVector<int>(userface);
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for (int j=0; j<face.size()/3; j++) {
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double area[3];
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double edge1[3];
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double edge2[3];
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for (int i=0; i<3; i++) {
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edge1[i] = uservert[3*face[3*j+1]+i] - uservert[3*face[3*j]+i];
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edge2[i] = uservert[3*face[3*j+2]+i] - uservert[3*face[3*j]+i];
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}
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mjuu_crossvec(area, edge1, edge2);
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for (int i=0; i<3; i++) {
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volume[face[3*j+i]] += sqrt(mjuu_dot3(area, area)) / 2 * thickness;
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}
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}
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} else {
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for (int i=0; i<uservert.size()/3; i++) {
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volume[i] = 6 * spacing * spacing / 2 * thickness;
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}
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}
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// create bodies and geoms
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for (int i=0; i<uservert.size()/3; i++) {
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// create body
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@@ -506,83 +430,6 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int
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s->type = mjGEOM_SPHERE;
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mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
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mjs_setString(s->name, txt);
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// add plugin
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if (plugin.active) {
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mjsPlugin* pplugin = &b->plugin;
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mjCPlugin* cplugin = static_cast<mjCPlugin*>(plugin.instance);
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pplugin->active = true;
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pplugin->instance = plugin.instance;
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mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
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mjs_setString(pplugin->name, mjs_getString(plugin.name));
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if (i==0 && !cplugin->config_attribs["face"].empty()) {
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return comperr(error, "Face attribute already exists in plugin", error_sz);
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}
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cplugin->config_attribs["face"] = userface;
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cplugin->config_attribs["edge"] = "";
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// update density
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if (dim == 2) {
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g->density *= volume[i] / (4./3. * mjPI * pow(g->size[0], 3));
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}
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}
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}
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// add isometry constraints
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if (dim==2) {
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char txt0[100], txt1[100], txt2[100];
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std::vector<std::pair<int, int>> edge;
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// create edges
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for (int i=0; i<face.size()/3; i++) {
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for (int j=0; j<3; j++) {
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int v0 = face[3*i+(j+0)%3];
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int v1 = face[3*i+(j+1)%3];
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edge.push_back(v0 < v1 ? std::pair(v0, v1) : std::pair(v1, v0));
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}
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}
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std::sort(edge.begin(), edge.end());
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auto last = std::unique(edge.begin(), edge.end());
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edge.erase(last, edge.end());
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// create constraints
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for (int i=0; i<edge.size(); i++) {
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int v0 = edge[i].first;
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int v1 = edge[i].second;
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mju::sprintf_arr(txt0, "%sT%d_%d", prefix.c_str(), v0, v1);
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mju::sprintf_arr(txt1, "%sS%d", prefix.c_str(), v0);
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mju::sprintf_arr(txt2, "%sS%d", prefix.c_str(), v1);
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// create tendon
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mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
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mjs_setDefault(ten->element, &model->Default()->spec);
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mjs_setString(ten->name, txt0);
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ten->group = 4;
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mjs_wrapSite(ten, txt1);
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mjs_wrapSite(ten, txt2);
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// add equality constraint
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mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
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mjs_setDefault(eq->element, &model->Default()->spec);
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eq->type = mjEQ_TENDON;
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mjs_setString(eq->name1, mjs_getString(ten->name));
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}
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}
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if (skin && dim==3) {
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MakeSkin3(model);
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}
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if (skin && dim==2) {
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if (skinsubgrid>0) {
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MakeSkin2Subgrid(model, skininflate);
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} else {
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MakeSkin2(model, skininflate);
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}
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}
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return true;
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@@ -1303,43 +1150,6 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
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skin->inflate = inflate;
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skin->group = skingroup;
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// copy skin from existing mesh
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if (type==mjCOMPTYPE_PARTICLE && username.empty()) {
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std::vector<int> skinface;
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skinface = StringToVector<int>(userface);
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int nvert = uservert.size()/3;
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for (int j=0; j<2; j++) {
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for (int i=0; i<nvert; i++) {
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vert.push_back(0);
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vert.push_back(0);
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vert.push_back(0);
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mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
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mjs_appendString(skin->bodyname, txt);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindquat.push_back(1);
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bindquat.push_back(0);
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bindquat.push_back(0);
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bindquat.push_back(0);
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vertid.push_back({j*nvert+i});
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vertweight.push_back({1});
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}
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for (int i=0; i<skinface.size()/3; i++) {
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face.push_back(j*nvert+skinface[3*i]);
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face.push_back(j*nvert+skinface[3*i+(j==0 ? 1 : 2)]);
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face.push_back(j*nvert+skinface[3*i+(j==0 ? 2 : 1)]);
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}
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}
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CopyIntoSkin(skin);
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return;
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}
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// populate mesh: two sides
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for (int i=0; i<2; i++) {
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for (int ix=0; ix<count[0]; ix++) {
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@@ -106,7 +106,6 @@ class mjCComposite {
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// currently used only for cable
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std::string initial; // root boundary type
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std::vector<float> uservert; // user-specified vertex positions
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std::string userface; // connectivity
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double size[3]; // rope size (meaning depends on the shape)
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mjtCompShape curve[3]; // geometric shape
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@@ -296,8 +296,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
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{"<"},
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{"config", "*", "2", "key", "value"},
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{">"},
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{"composite", "*", "13", "prefix", "type", "count", "spacing", "offset",
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"flatinertia", "solrefsmooth", "solimpsmooth", "vertex", "face",
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{"composite", "*", "12", "prefix", "type", "count", "spacing", "offset",
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"flatinertia", "solrefsmooth", "solimpsmooth", "vertex",
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"initial", "curve", "size"},
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{"<"},
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{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
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@@ -2371,9 +2371,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsDefault* def) {
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comp.uservert = std::move(uservert.value());
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}
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// shell
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ReadAttrTxt(elem, "face", comp.userface);
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// process curve string
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std::istringstream iss(curves);
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int i = 0;
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