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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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introspect/functions.py
+91 -1
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@@ -1456,6 +1456,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Compute camera and light positions and orientations.',
)),
('mj_flex',
FunctionDecl(
name='mj_flex',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
),
doc='Compute flex-related quantities.',
)),
('mj_tendon',
FunctionDecl(
name='mj_tendon',
@@ -3161,6 +3181,69 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.', # pylint: disable=line-too-long
)),
('mju_rayFlex',
FunctionDecl(
name='mju_rayFlex',
return_type=ValueType(name='mjtNum'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
name='flex_layer',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='flg_vert',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='flg_edge',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='flg_face',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='flg_skin',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='flexid',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='pnt',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='vertid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
),
doc='Intersect ray with flex, return nearest distance or -1 if no intersection, and also output nearest vertex id.', # pylint: disable=line-too-long
)),
('mju_raySkin',
FunctionDecl(
name='mju_raySkin',
@@ -3815,6 +3898,13 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
extents=(1,),
),
),
FunctionParameterDecl(
name='flexid',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(1,),
),
),
FunctionParameterDecl(
name='skinid',
type=ArrayType(
@@ -3823,7 +3913,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
),
),
),
doc='Select geom or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
doc='Select geom, flex or skin with mouse, return bodyid; -1: none selected.', # pylint: disable=line-too-long
)),
('mjv_defaultOption',
FunctionDecl(