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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/user/user_model.h
+14 -1
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@@ -44,6 +44,7 @@ class mjCModel {
friend class mjCBody;
friend class mjCJoint;
friend class mjCGeom;
friend class mjCFlex;
friend class mjCMesh;
friend class mjCSkin;
friend class mjCHField;
@@ -72,6 +73,7 @@ class mjCModel {
//------------------------ API for adding model elements
mjCFlex* AddFlex(void); // flex
mjCMesh* AddMesh(mjCDef* def = 0); // mesh
mjCSkin* AddSkin(void); // skin
mjCHField* AddHField(void); // heightfield
@@ -194,6 +196,7 @@ class mjCModel {
int nsite; // number of sites
int ncam; // number of cameras
int nlight; // number of lights
int nflex; // number of flexes
int nmesh; // number of meshes
int nskin; // number of skins
int nhfield; // number of height fields
@@ -216,7 +219,16 @@ class mjCModel {
int nv; // number of degrees of freedom = dim(qvel)
int nu; // number of actuators/controls
int na; // number of activation variables
int nbvh; // number of boundary volume hierarchies
int nbvh; // number of total boundary volume hierarchies
int nbvhstatic; // number of static boundary volume hierarchies
int nbvhdynamic; // number of dynamic boundary volume hierarchies
int nflexvert; // number of vertices in all flexes
int nflexedge; // number of edges in all flexes
int nflexelem; // number of elements in all flexes
int nflexelemdata; // number of element vertex ids in all flexes
int nflexshelldata; // number of shell fragment vertex ids in all flexes
int nflexevpair; // number of element-vertex pairs in all flexes
int nflextexcoord; // number of vertex texture coordinates in all flexes
int nmeshvert; // number of vertices in all meshes
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texture coordinates in all meshes
@@ -243,6 +255,7 @@ class mjCModel {
//------------------------ object lists
// objects created here
std::vector<mjCFlex*> flexes; // list of flexes
std::vector<mjCMesh*> meshes; // list of meshes
std::vector<mjCSkin*> skins; // list of skins
std::vector<mjCHField*> hfields; // list of height fields