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

Add Flex component.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjvisualize.h
+57 -6
View File
@@ -74,6 +74,7 @@ typedef enum mjtLabel_ { // object labeling
mjLABEL_TENDON, // tendon labels
mjLABEL_ACTUATOR, // actuator labels
mjLABEL_CONSTRAINT, // constraint labels
mjLABEL_FLEX, // flex labels
mjLABEL_SKIN, // skin labels
mjLABEL_SELECTION, // selected object
mjLABEL_SELPNT, // coordinates of selection point
@@ -124,7 +125,12 @@ typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_SELECT, // selection point
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_MIDPHASE, // mid-phase bounding volume hierarchy
mjVIS_FLEXVERT, // flex vertices
mjVIS_FLEXEDGE, // flex edges
mjVIS_FLEXFACE, // flex element faces
mjVIS_FLEXSKIN, // flex smooth skin (disables the rest)
mjVIS_BODYBVH, // body bounding volume hierarchy
mjVIS_FLEXBVH, // flex bounding volume hierarchy
mjVIS_MESHBVH, // mesh bounding volume hierarchy
mjVIS_SDFITER, // iterations of SDF gradient descent
@@ -159,6 +165,7 @@ typedef enum mjtStereo_ { // type of stereo rendering
struct mjvPerturb_ { // object selection and perturbation
int select; // selected body id; non-positive: none
int flexselect; // selected flex id; negative: none
int skinselect; // selected skin id; negative: none
int active; // perturbation bitmask (mjtPertBit)
int active2; // secondary perturbation bitmask (mjtPertBit)
@@ -219,7 +226,7 @@ struct mjvGeom_ { // abstract geom
int category; // visual category
int texid; // texture id; -1: no texture
int texuniform; // uniform cube mapping
int texcoord; // mesh geom has texture coordinates
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
// OpenGL info
@@ -270,9 +277,11 @@ struct mjvOption_ { // abstract visualization options
mjtByte jointgroup[mjNGROUP]; // joint visualization by group
mjtByte tendongroup[mjNGROUP]; // tendon visualization by group
mjtByte actuatorgroup[mjNGROUP]; // actuator visualization by group
mjtByte flexgroup[mjNGROUP]; // flex visualization by group
mjtByte skingroup[mjNGROUP]; // skin visualization by group
mjtByte flags[mjNVISFLAG]; // visualization flags (indexed by mjtVisFlag)
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
int bvh_depth; // depth of the bounding volume hierarchy to be visualized
int flex_layer; // element layer to be visualized for 3D flex
};
typedef struct mjvOption_ mjvOption;
@@ -286,13 +295,32 @@ struct mjvScene_ { // abstract scene passed to OpenGL renderer
mjvGeom* geoms; // buffer for geoms (ngeom)
int* geomorder; // buffer for ordering geoms by distance to camera (ngeom)
// flex data
int nflex; // number of flexes
int* flexedgeadr; // address of flex edges (nflex)
int* flexedgenum; // number of edges in flex (nflex)
int* flexvertadr; // address of flex vertices (nflex)
int* flexvertnum; // number of vertices in flex (nflex)
int* flexfaceadr; // address of flex faces (nflex)
int* flexfacenum; // number of flex faces allocated (nflex)
int* flexfaceused; // number of flex faces currently in use (nflex)
int* flexedge; // flex edge data (2*nflexedge)
float* flexvert; // flex vertices (3*nflexvert)
float* flexface; // flex faces vertices (9*sum(flexfacenum))
float* flexnormal; // flex face normals (9*sum(flexfacenum))
float* flextexcoord; // flex face texture coordinates (6*sum(flexfacenum))
mjtByte flexvertopt; // copy of mjVIS_FLEXVERT mjvOption flag
mjtByte flexedgeopt; // copy of mjVIS_FLEXEDGE mjvOption flag
mjtByte flexfaceopt; // copy of mjVIS_FLEXFACE mjvOption flag
mjtByte flexskinopt; // copy of mjVIS_FLEXSKIN mjvOption flag
// skin data
int nskin; // number of skins
int* skinfacenum; // number of faces in skin (nskin)
int* skinvertadr; // address of skin vertices (nskin)
int* skinvertnum; // number of vertices in skin (nskin)
float* skinvert; // skin vertex data (nskin)
float* skinnormal; // skin normal data (nskin)
float* skinvert; // skin vertex data (3*nskinvert)
float* skinnormal; // skin normal data (3*nskinvert)
// OpenGL lights
int nlight; // number of lights currently in buffer
@@ -384,6 +412,7 @@ struct mjvSceneState_ {
int na;
int nbody;
int nbvh;
int nbvhstatic;
int njnt;
int ngeom;
int nsite;
@@ -391,6 +420,8 @@ struct mjvSceneState_ {
int nlight;
int nmesh;
int nskin;
int nflex;
int nflexvert;
int nskinvert;
int nskinface;
int nskinbone;
@@ -427,7 +458,7 @@ struct mjvSceneState_ {
int* bvh_depth;
int* bvh_child;
int* bvh_geomid;
int* bvh_nodeid;
mjtNum* bvh_aabb;
int* jnt_type;
@@ -467,6 +498,24 @@ struct mjvSceneState_ {
float* light_diffuse;
float* light_specular;
mjtByte* flex_flatskin;
int* flex_dim;
int* flex_matid;
int* flex_group;
int* flex_vertadr;
int* flex_vertnum;
int* flex_elem;
int* flex_elemadr;
int* flex_elemnum;
int* flex_elemdataadr;
int* flex_shell;
int* flex_shellnum;
int* flex_shelldataadr;
int* flex_bvhadr;
int* flex_bvhnum;
mjtNum* flex_radius;
float* flex_rgba;
int* mesh_bvhadr;
int* mesh_bvhnum;
int* mesh_texcoordadr;
@@ -598,6 +647,8 @@ struct mjvSceneState_ {
int* efc_island;
int* tendon_efcadr;
mjtNum* flexvert_xpos;
mjContact* contact;
mjtNum* efc_force;
} data;