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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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src/engine/engine_print.c
+37 -14
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@@ -361,6 +361,14 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
if (m->nbody) fprintf(fp, "\n");
// BVHs
for (int i=0; i<m->nbvh; i++) {
fprintf(fp, "\nBVH %d:\n", i);
object_class = &m->nbvh;
MJMODEL_POINTERS
}
if (m->nbvh) fprintf(fp, "\n");
// joints
for (int i=0; i < m->njnt; i++) {
fprintf(fp, "\nJOINT %d:\n", i);
@@ -419,6 +427,16 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
if (m->nlight) fprintf(fp, "\n");
// flexes
for (int i=0; i<m->nflex; i++) {
fprintf(fp, "\nFLEX %d:\n", i);
fprintf(fp, " " NAME_FORMAT, "name");
fprintf(fp, " %s\n", m->names + m->name_flexadr[i]);
object_class = &m->nflex;
MJMODEL_POINTERS
}
if (m->nflex) fprintf(fp, "\n");
// meshes
for (int i=0; i < m->nmesh; i++) {
fprintf(fp, "\nMESH %d:\n", i);
@@ -914,6 +932,18 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("CDOF", m->nv, 6, d->cdof, fp, float_format);
printArray("CINERT", m->nbody, 10, d->cinert, fp, float_format);
printArray("FLEXVERT_XPOS", m->nflexvert, 3, d->flexvert_xpos, fp, float_format);
printArray("FLEXELEM_AABB", m->nflexelem, 6, d->flexelem_aabb, fp, float_format);
if (!mj_isSparse(m)) {
printArray("FLEXEDGE_J", m->nflexedge, m->nv, d->flexedge_J, fp, float_format);
} else {
printArrayInt("FLEXEDGE_J_ROWNNZ", m->nflexedge, 1, d->flexedge_J_rownnz, fp);
printArrayInt("FLEXEDGE_J_ROWADR", m->nflexedge, 1, d->flexedge_J_rowadr, fp);
printSparse("FLEXEDGE_J", d->flexedge_J, m->nflexedge, d->flexedge_J_rownnz,
d->flexedge_J_rowadr, d->flexedge_J_colind, fp, float_format);
}
printArray("FLEXEDGE_LENGTH", m->nflexedge, 1, d->flexedge_length, fp, float_format);
printArray("TEN_LENGTH", m->ntendon, 1, d->ten_length, fp, float_format);
if (!mj_isSparse(m)) {
printArray("TEN_MOMENT", m->ntendon, m->nv, d->ten_J, fp, float_format);
@@ -1001,20 +1031,12 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
// contact
fprintf(fp, "CONTACT\n");
for (int i=0; i < d->ncon; i++) {
fprintf(fp, " %d:\n dim %d\n geom ", i, d->contact[i].dim);
const char* geom1 = mj_id2name(m, mjOBJ_GEOM, d->contact[i].geom1);
if (geom1) {
fprintf(fp, "%s ", geom1);
} else {
fprintf(fp, "%d ", d->contact[i].geom1);
}
const char* geom2 = mj_id2name(m, mjOBJ_GEOM, d->contact[i].geom2);
if (geom2) {
if (geom1) fprintf(fp, " "); // two spaces between two names
fprintf(fp, "%s\n", geom2);
} else {
fprintf(fp, "%d\n", d->contact[i].geom2);
}
fprintf(fp, " %d:\n dim %d\n", i, d->contact[i].dim);
fprintf(fp, " gfev %d %d %d %d : %d %d %d %d\n",
d->contact[i].geom[0], d->contact[i].flex[0],
d->contact[i].elem[0], d->contact[i].vert[0],
d->contact[i].geom[1], d->contact[i].flex[1],
d->contact[i].elem[1], d->contact[i].vert[1]);
fprintf(fp, " exclude %d\n efc_address %d\n",
d->contact[i].exclude, d->contact[i].efc_address);
printVector(" solref ", d->contact[i].solref, mjNREF, fp, float_format);
@@ -1054,6 +1076,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("EFC_D", d->nefc, 1, d->efc_D, fp, float_format);
printArray("EFC_R", d->nefc, 1, d->efc_R, fp, float_format);
printArray("FLEXEDGE_VELOCITY", m->nflexedge, 1, d->flexedge_velocity, fp, float_format);
printArray("TEN_VELOCITY", m->ntendon, 1, d->ten_velocity, fp, float_format);
printArray("ACTUATOR_VELOCITY", m->nu, 1, d->actuator_velocity, fp, float_format);