chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added support for msh2.2

Browse Source 
Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.

Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark

PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
This commit is contained in:
Google DeepMind
2024-03-26 10:11:07 -07:00
committed by Copybara-Service
parent 4d2aa46e56
commit 4f0293c6cb
35 changed files with 38103 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_flexcomp.cc
+468 -208
View File
File diff suppressed because it is too large Load Diff
src/user/user_flexcomp.h
+5
View File
@@ -50,6 +50,11 @@ class mjCFlexcomp {
bool MakeMesh(mjCModel* model, char* error, int error_sz);
bool MakeGMSH(mjCModel* model, char* error, int error_sz);
void LoadGMSH(mjCModel* model, mjResource* resource);
void LoadGMSH41(char* buffer, int binary, int nodeend, int nodebegin,
int elemend, int elembegin);
void LoadGMSH22(char* buffer, int binary, int nodeend, int nodebegin,
int elemend, int elembegin);
int GridID(int ix, int iy);
int GridID(int ix, int iy, int iz);