Add Flex component.
PiperOrigin-RevId: 572830650 Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
committed by
Saran Tunyasuvunakool
Saran Tunyasuvunakool
parent
649a474788
commit
5a70ad08ab
+120
-14
@@ -43,6 +43,7 @@ const char* mjLABELSTRING[mjNLABEL] = {
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"Tendon",
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"Actuator",
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"Constraint",
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"Flex",
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"Skin",
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"Selection",
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"SelPoint",
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@@ -91,8 +92,13 @@ const char* mjVISSTRING[mjNVISFLAG][3] = {
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{"S&elect Point", "0", "E"},
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{"Static Bo&dy", "1", "D"},
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{"Skin", "1", ";"},
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{"Flex Vert", "1", "."},
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{"Flex Edge", "1", ""},
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{"Flex Face", "1", ""},
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{"Flex Skin", "0", ""},
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{"Body Tree", "0", "`"},
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{"Mesh Tree", "0", ""},
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{"Flex Tree", "0", ""},
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{"Mesh Tree", "0", "\\"},
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{"SDF iters", "0", ""}
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};
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@@ -107,7 +113,7 @@ const char* mjRNDSTRING[mjNRNDFLAG][3] = {
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{"Fog", "0", "G"},
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{"Haze", "1", "/"},
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{"Segment", "0", ","},
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{"Id Color", "0", "."},
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{"Id Color", "0", ""},
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{"Cull Face", "1", ""}
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};
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@@ -143,6 +149,96 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
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scn->scale = 1;
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scn->rotate[0] = 1;
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// set number of flexes
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scn->nflex = m ? m->nflex : 0;
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// allocate flex data
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if (scn->nflex) {
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int nflex = scn->nflex;
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// allocate fixed
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scn->flexedgeadr = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexedgenum = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexvertadr = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexvertnum = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexfaceadr = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexfacenum = (int*) mju_malloc(nflex*sizeof(int));
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scn->flexfaceused= (int*) mju_malloc(nflex*sizeof(int));
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scn->flexedge = (int*) mju_malloc(2*m->nflexedge*sizeof(int));
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scn->flexvert = (float*) mju_malloc(3*m->nflexvert*sizeof(float));
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// count max number of flex faces to be rendered (depending on vis options)
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int nface = 0;
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for (int f=0; f<nflex; f++) {
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// 1D : 0
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if (m->flex_dim[f]==0) {
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scn->flexfacenum[f] = 0;
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}
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// 2D: 2*fragments + 2*elements
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else if (m->flex_dim[f]==2) {
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scn->flexfacenum[f] = 2*m->flex_shellnum[f] + 2*m->flex_elemnum[f];
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}
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// 3D: max(fragments, 4*maxlayer)
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else {
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// find number of elements in biggest layer
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int maxlayer = 0, layer = 0, nlayer = 1;
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while (nlayer) {
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// count elements in this layer
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nlayer = 0;
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for (int e=0; e<m->flex_elemnum[f]; e++) {
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if (m->flex_elemlayer[m->flex_elemadr[f]+e]==layer) {
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nlayer++;
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}
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}
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// accumulate max over layers, advance layer
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maxlayer = mjMAX(maxlayer, nlayer);
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layer++;
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}
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scn->flexfacenum[f] = mjMAX(m->flex_shellnum[f], 4*maxlayer);
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}
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// accumulate over flexes
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nface += scn->flexfacenum[f];
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}
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// allocate face-related
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scn->flexface = nface ? (float*) mju_malloc(9*nface*sizeof(float)) : NULL;
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scn->flexnormal = nface ? (float*) mju_malloc(9*nface*sizeof(float)) : NULL;
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scn->flextexcoord = nface ? (float*) mju_malloc(6*nface*sizeof(float)) : NULL;
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// check allocation
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if (!scn->flexedgeadr ||
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!scn->flexedgenum ||
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!scn->flexfaceadr ||
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!scn->flexfacenum ||
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!scn->flexfaceused||
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!scn->flexvertadr ||
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!scn->flexvertnum ||
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!scn->flexedge ||
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!scn->flexvert ||
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(nface && !scn->flexface) ||
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(nface && !scn->flexnormal) ||
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(nface && !scn->flextexcoord)) {
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mju_error("Could not allocate flex buffers");
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}
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// copy constant edge and vertex data
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memcpy(scn->flexedgeadr, m->flex_edgeadr, nflex*sizeof(int));
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memcpy(scn->flexedgenum, m->flex_edgenum, nflex*sizeof(int));
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memcpy(scn->flexvertadr, m->flex_vertadr, nflex*sizeof(int));
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memcpy(scn->flexvertnum, m->flex_vertnum, nflex*sizeof(int));
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memcpy(scn->flexedge, m->flex_edge, 2*m->nflexedge*sizeof(int));
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// compute flexfaceadr
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for (int f=0; f<nflex; f++) {
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scn->flexfaceadr[f] = f==0 ? 0 : scn->flexfaceadr[f-1]+scn->flexfacenum[f-1];
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}
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}
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// set number of skins
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if (m) {
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scn->nskin = m->nskin;
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@@ -152,19 +248,14 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
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// allocate skin data
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if (scn->nskin) {
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// compute number of vertices in all skins
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int nskin = m->nskin;
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int totvert = 0;
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for (int i=0; i < nskin; i++) {
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totvert += m->skin_vertnum[i];
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}
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// allocate
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scn->skinfacenum = (int*) mju_malloc(nskin*sizeof(int));
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scn->skinvertadr = (int*) mju_malloc(nskin*sizeof(int));
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scn->skinvertnum = (int*) mju_malloc(nskin*sizeof(int));
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scn->skinvert = (float*) mju_malloc(3*totvert*sizeof(float));
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scn->skinnormal = (float*) mju_malloc(3*totvert*sizeof(float));
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scn->skinvert = (float*) mju_malloc(3*m->nskinvert*sizeof(float));
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scn->skinnormal = (float*) mju_malloc(3*m->nskinvert*sizeof(float));
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// check allocation
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if (!scn->skinfacenum ||
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@@ -176,11 +267,9 @@ void mjv_makeScene(const mjModel* m, mjvScene* scn, int maxgeom) {
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}
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// copy constant data
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for (int i=0; i < nskin; i++) {
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scn->skinfacenum[i] = m->skin_facenum[i];
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scn->skinvertadr[i] = m->skin_vertadr[i];
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scn->skinvertnum[i] = m->skin_vertnum[i];
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}
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mju_copyInt(scn->skinfacenum, m->skin_facenum, nskin);
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mju_copyInt(scn->skinvertadr, m->skin_vertadr, nskin);
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mju_copyInt(scn->skinvertnum, m->skin_vertnum, nskin);
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}
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// mjvGeom, mjvLight, mjvGLCamera objects are invalid
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@@ -193,6 +282,20 @@ void mjv_freeScene(mjvScene* scn) {
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// free buffers allocated by mjv_makeScene
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mju_free(scn->geoms);
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mju_free(scn->geomorder);
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mju_free(scn->flexedgeadr);
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mju_free(scn->flexedgenum);
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mju_free(scn->flexvertadr);
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mju_free(scn->flexvertnum);
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mju_free(scn->flexfaceadr);
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mju_free(scn->flexfacenum);
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mju_free(scn->flexfaceused);
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mju_free(scn->flexedge);
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mju_free(scn->flexvert);
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mju_free(scn->flexface);
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mju_free(scn->flexnormal);
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mju_free(scn->flextexcoord);
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mju_free(scn->skinfacenum);
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mju_free(scn->skinvertadr);
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mju_free(scn->skinvertnum);
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@@ -224,6 +327,7 @@ void mjv_defaultOption(mjvOption* vopt) {
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vopt->jointgroup[i] = state;
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vopt->tendongroup[i] = state;
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vopt->actuatorgroup[i] = state;
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vopt->flexgroup[i] = state;
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vopt->skingroup[i] = state;
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}
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@@ -232,6 +336,7 @@ void mjv_defaultOption(mjvOption* vopt) {
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}
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vopt->bvh_depth = 1;
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vopt->flex_layer = 0;
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}
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@@ -271,6 +376,7 @@ void mjv_defaultFreeCamera(const mjModel* m, mjvCamera* cam) {
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void mjv_defaultPerturb(mjvPerturb* pert) {
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memset(pert, 0, sizeof(mjvPerturb));
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pert->flexselect = -1;
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pert->skinselect = -1;
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pert->refquat[0] = 1;
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pert->scale = 1;
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