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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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simulate/simulate.cc
+18 -3
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@@ -713,6 +713,7 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
{mjITEM_EDITNUM, "Margin", 2, &(opt->o_margin), "1"},
{mjITEM_EDITNUM, "Sol Imp", 2, &(opt->o_solimp), "5"},
{mjITEM_EDITNUM, "Sol Ref", 2, &(opt->o_solref), "2"},
{mjITEM_EDITNUM, "Friction", 2, &(opt->o_friction), "5"},
{mjITEM_END}
};
@@ -765,7 +766,7 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
2,
&(sim->opt.label),
"None\nBody\nJoint\nGeom\nSite\nCamera\nLight\nTendon\n"
"Actuator\nConstraint\nSkin\nSelection\nSel Pnt\nContact\nForce\nIsland"
"Actuator\nConstraint\nFlex\nSkin\nSelection\nSel Pnt\nContact\nForce\nIsland"
},
{
mjITEM_SELECT,
@@ -846,6 +847,7 @@ void MakeRenderingSection(mj::Simulate* sim, const mjModel* m, int oldstate) {
// create tree slider
mjuiDef defTree[] = {
{mjITEM_SLIDERINT, "Tree depth", 2, &sim->opt.bvh_depth, "0 20"},
{mjITEM_SLIDERINT, "Flex layer", 2, &sim->opt.flex_layer, "0 10"},
{mjITEM_END}
};
mjui_add(&sim->ui0, defTree);
@@ -962,6 +964,13 @@ void MakeGroupSection(mj::Simulate* sim, int oldstate) {
{mjITEM_CHECKBYTE, "Actuator 3", 2, sim->opt.actuatorgroup+3, ""},
{mjITEM_CHECKBYTE, "Actuator 4", 2, sim->opt.actuatorgroup+4, ""},
{mjITEM_CHECKBYTE, "Actuator 5", 2, sim->opt.actuatorgroup+5, ""},
{mjITEM_SEPARATOR, "Flex groups", 1},
{mjITEM_CHECKBYTE, "Flex 0", 2, sim->opt.flexgroup, ""},
{mjITEM_CHECKBYTE, "Flex 1", 2, sim->opt.flexgroup+1, ""},
{mjITEM_CHECKBYTE, "Flex 2", 2, sim->opt.flexgroup+2, ""},
{mjITEM_CHECKBYTE, "Flex 3", 2, sim->opt.flexgroup+3, ""},
{mjITEM_CHECKBYTE, "Flex 4", 2, sim->opt.flexgroup+4, ""},
{mjITEM_CHECKBYTE, "Flex 5", 2, sim->opt.flexgroup+5, ""},
{mjITEM_SEPARATOR, "Skin groups", 1},
{mjITEM_CHECKBYTE, "Skin 0", 2, sim->opt.skingroup, ""},
{mjITEM_CHECKBYTE, "Skin 1", 2, sim->opt.skingroup+1, ""},
@@ -1551,6 +1560,7 @@ void UiEvent(mjuiState* state) {
case mjKEY_PAGE_UP: // select parent body
if ((sim->m_ || sim->is_passive_) && sim->pert.select > 0) {
sim->pert.select = sim->body_parentid_[sim->pert.select];
sim->pert.flexselect = -1;
sim->pert.skinselect = -1;
// stop perturbation if world reached
@@ -1829,6 +1839,7 @@ void Simulate::Sync() {
X(o_margin);
X(o_solref);
X(o_solimp);
X(o_friction);
X(integrator);
X(cone);
X(jacobian);
@@ -1959,12 +1970,12 @@ void Simulate::Sync() {
// find geom and 3D click point, get corresponding body
mjrRect r = pending_.select_state.rect[3];
mjtNum selpnt[3];
int selgeom, selskin;
int selgeom, selflex, selskin;
int selbody = mjv_select(m_, d_, &this->opt,
static_cast<mjtNum>(r.width) / r.height,
(pending_.select_state.x - r.left) / r.width,
(pending_.select_state.y - r.bottom) / r.height,
&this->scn, selpnt, &selgeom, &selskin);
&this->scn, selpnt, &selgeom, &selflex, &selskin);
// set lookat point, start tracking is requested
if (selmode==2 || selmode==3) {
@@ -1991,6 +2002,7 @@ void Simulate::Sync() {
if (selbody>=0) {
// record selection
this->pert.select = selbody;
this->pert.flexselect = selflex;
this->pert.skinselect = selskin;
// compute localpos
@@ -1999,6 +2011,7 @@ void Simulate::Sync() {
mju_mulMatTVec(this->pert.localpos, d_->xmat + 9*this->pert.select, tmp, 3, 3);
} else {
this->pert.select = 0;
this->pert.flexselect = -1;
this->pert.skinselect = -1;
}
}
@@ -2209,6 +2222,7 @@ void Simulate::LoadOnRenderThread() {
// clear perturbation state
this->pert.active = 0;
this->pert.select = 0;
this->pert.flexselect = -1;
this->pert.skinselect = -1;
// align and scale view unless reloading the same file
@@ -2360,6 +2374,7 @@ void Simulate::Render() {
IsDifferent(opt_prev_.jointgroup, opt.jointgroup) ||
IsDifferent(opt_prev_.tendongroup, opt.tendongroup) ||
IsDifferent(opt_prev_.actuatorgroup, opt.actuatorgroup) ||
IsDifferent(opt_prev_.flexgroup, opt.flexgroup) ||
IsDifferent(opt_prev_.skingroup, opt.skingroup))) {
mjui0_update_section(this, SECT_GROUP);
}