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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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include/mujoco/mjmodel.h
+88 -8
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@@ -109,6 +109,7 @@ typedef enum mjtGeom_ { // type of geometric shape
mjGEOM_ARROW1, // arrow without wedges
mjGEOM_ARROW2, // arrow in both directions
mjGEOM_LINE, // line
mjGEOM_FLEX, // flex
mjGEOM_SKIN, // skin
mjGEOM_LABEL, // text label
mjGEOM_TRIANGLE, // triangle connecting a frame
@@ -166,6 +167,7 @@ typedef enum mjtEq_ { // type of equality constraint
mjEQ_WELD, // fix relative position and orientation of two bodies
mjEQ_JOINT, // couple the values of two scalar joints with cubic
mjEQ_TENDON, // couple the lengths of two tendons with cubic
mjEQ_FLEX, // fix all edge lengths of a flex
mjEQ_DISTANCE // unsupported, will cause an error if used
} mjtEq;
@@ -228,6 +230,7 @@ typedef enum mjtObj_ { // type of MujoCo object
mjOBJ_SITE, // site
mjOBJ_CAMERA, // camera
mjOBJ_LIGHT, // light
mjOBJ_FLEX, // flex
mjOBJ_MESH, // mesh
mjOBJ_SKIN, // skin
mjOBJ_HFIELD, // heightfield
@@ -353,6 +356,15 @@ typedef enum mjtLRMode_ { // mode for actuator length range computation
} mjtLRMode;
typedef enum mjtFlexSelf_ { // mode for flex selfcollide
mjFLEXSELF_NONE = 0, // no self-collisions
mjFLEXSELF_NARROW, // skip midphase, go directly to narrowphase
mjFLEXSELF_BVH, // use BVH in midphase (if midphase enabled)
mjFLEXSELF_SAP, // use SAP in midphase
mjFLEXSELF_AUTO // choose between BVH and SAP automatically
} mjtFlexSelf;
//---------------------------------- mjLROpt -------------------------------------------------------
struct mjLROpt_ { // options for mj_setLengthRange()
@@ -408,6 +420,7 @@ struct mjOption_ { // physics options
mjtNum o_margin; // margin
mjtNum o_solref[mjNREF]; // solref
mjtNum o_solimp[mjNIMP]; // solimp
mjtNum o_friction[5]; // friction
// discrete settings
int integrator; // integration mode (mjtIntegrator)
@@ -439,9 +452,9 @@ struct mjVisual_ { // visualization options
float linewidth; // line width for wireframe and ray rendering
float glow; // glow coefficient for selected body
float realtime; // initial real-time factor (1: real time)
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
} global;
struct { // rendering quality
@@ -545,12 +558,22 @@ struct mjModel_ {
int nu; // number of actuators/controls = dim(ctrl)
int na; // number of activation states = dim(act)
int nbody; // number of bodies
int nbvh; // number of bounding volumes in all bodies
int nbvh; // number of total bounding volumes in all bodies
int nbvhstatic; // number of static bounding volumes (aabb stored in mjModel)
int nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
int njnt; // number of joints
int ngeom; // number of geoms
int nsite; // number of sites
int ncam; // number of cameras
int nlight; // number of lights
int nflex; // number of flexes
int nflexvert; // number of vertices in all flexes
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertices with texture coordinates
int nmesh; // number of meshes
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
@@ -649,16 +672,19 @@ struct mjModel_ {
mjtNum* body_inertia; // diagonal inertia in ipos/iquat frame (nbody x 3)
mjtNum* body_invweight0; // mean inv inert in qpos0 (trn, rot) (nbody x 2)
mjtNum* body_gravcomp; // antigravity force, units of body weight (nbody x 1)
mjtNum* body_margin; // MAX over all geom margins (nbody x 1)
mjtNum* body_user; // user data (nbody x nuser_body)
int* body_plugin; // plugin instance id; -1: not in use (nbody x 1)
int* body_contype; // OR over all geom contypes (nbody x 1)
int* body_conaffinity; // OR over all geom conaffinities (nbody x 1)
int* body_bvhadr; // address of bvh root (nbody x 1)
int* body_bvhnum; // number of bounding volumes (nbody x 1)
// bounding volume hierarchy
int* bvh_depth; // depth in the bounding volume hierarchy (nbvh x 1)
int* bvh_child; // left and right children in tree (nbvh x 2)
int* bvh_geomid; // geom id of the node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // bounding box of node (center, size) (nbvh x 6)
int* bvh_nodeid; // geom or elem id of node; -1: non-leaf (nbvh x 1)
mjtNum* bvh_aabb; // local bounding box (center, size) (nbvhstatic x 6)
// joints
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
@@ -767,6 +793,59 @@ struct mjModel_ {
float* light_diffuse; // diffuse rgb (alpha=1) (nlight x 3)
float* light_specular; // specular rgb (alpha=1) (nlight x 3)
// flexes: contact properties
int* flex_contype; // flex contact type (nflex x 1)
int* flex_conaffinity; // flex contact affinity (nflex x 1)
int* flex_condim; // contact dimensionality (1, 3, 4, 6) (nflex x 1)
int* flex_priority; // flex contact priority (nflex x 1)
mjtNum* flex_solmix; // mix coef for solref/imp in contact pair (nflex x 1)
mjtNum* flex_solref; // constraint solver reference: contact (nflex x mjNREF)
mjtNum* flex_solimp; // constraint solver impedance: contact (nflex x mjNIMP)
mjtNum* flex_friction; // friction for (slide, spin, roll) (nflex x 3)
mjtNum* flex_margin; // detect contact if dist<margin (nflex x 1)
mjtNum* flex_gap; // include in solver if dist<margin-gap (nflex x 1)
mjtByte* flex_internal; // internal flex collision enabled (nflex x 1)
int* flex_selfcollide; // self collision mode (mjtFlexSelf) (nflex x 1)
int* flex_activelayers; // number of active element layers, 3D only (nflex x 1)
// flexes: other properties
int* flex_dim; // 1: lines, 2: triangles, 3: tetrahedra (nflex x 1)
int* flex_matid; // material id for rendering (nflex x 1)
int* flex_group; // group for visibility (nflex x 1)
int* flex_vertadr; // first vertex address (nflex x 1)
int* flex_vertnum; // number of vertices (nflex x 1)
int* flex_edgeadr; // first edge address (nflex x 1)
int* flex_edgenum; // number of edges (nflex x 1)
int* flex_elemadr; // first element address (nflex x 1)
int* flex_elemnum; // number of elements (nflex x 1)
int* flex_elemdataadr; // first element vertex id address (nflex x 1)
int* flex_shellnum; // number of shells (nflex x 1)
int* flex_shelldataadr; // first shell data address (nflex x 1)
int* flex_evpairadr; // first evpair address (nflex x 1)
int* flex_evpairnum; // number of evpairs (nflex x 1)
int* flex_texcoordadr; // address in flex_texcoord; -1: none (nflex x 1)
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
mjtNum* flex_xvert0; // Cartesian vertex positions in qpos0 (nflexvert x 3)
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)
mjtByte* flex_edgeequality; // is edge equality constraint defined (nflex x 1)
mjtByte* flex_rigid; // are all verices in the same body (nflex x 1)
mjtByte* flex_centered; // are all vertex coordinates (0,0,0) (nflex x 1)
mjtByte* flex_flatskin; // render flex skin with flat shading (nflex x 1)
int* flex_bvhadr; // address of bvh root; -1: no bvh (nflex x 1)
int* flex_bvhnum; // number of bounding volumes (nflex x 1)
float* flex_rgba; // rgba when material is omitted (nflex x 4)
float* flex_texcoord; // vertex texture coordinates (nflextexcoord x 2)
// meshes
int* mesh_vertadr; // first vertex address (nmesh x 1)
int* mesh_vertnum; // number of vertices (nmesh x 1)
@@ -841,7 +920,7 @@ struct mjModel_ {
int* pair_dim; // contact dimensionality (npair x 1)
int* pair_geom1; // id of geom1 (npair x 1)
int* pair_geom2; // id of geom2 (npair x 1)
int* pair_signature; // (body1+1) << 16 + body2+1 (npair x 1)
int* pair_signature; // body1 << 16 + body2 (npair x 1)
mjtNum* pair_solref; // solver reference: contact normal (npair x mjNREF)
mjtNum* pair_solreffriction; // solver reference: contact friction (npair x mjNREF)
mjtNum* pair_solimp; // solver impedance: contact (npair x mjNIMP)
@@ -850,7 +929,7 @@ struct mjModel_ {
mjtNum* pair_friction; // tangent1, 2, spin, roll1, 2 (npair x 5)
// excluded body pairs for collision detection
int* exclude_signature; // (body1+1) << 16 + body2+1 (nexclude x 1)
int* exclude_signature; // body1 << 16 + body2 (nexclude x 1)
// equality constraints
int* eq_type; // constraint type (mjtEq) (neq x 1)
@@ -970,6 +1049,7 @@ struct mjModel_ {
int* name_siteadr; // site name pointers (nsite x 1)
int* name_camadr; // camera name pointers (ncam x 1)
int* name_lightadr; // light name pointers (nlight x 1)
int* name_flexadr; // flex name pointers (nflex x 1)
int* name_meshadr; // mesh name pointers (nmesh x 1)
int* name_skinadr; // skin name pointers (nskin x 1)
int* name_hfieldadr; // hfield name pointers (nhfield x 1)