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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_objects.h
+86 -17
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@@ -35,8 +35,9 @@ class mjCGeom;
class mjCSite;
class mjCCamera;
class mjCLight;
class mjCMesh;
class mjCSkin;
class mjCFlex; // defined in user_mesh
class mjCMesh; // defined in user_mesh
class mjCSkin; // defined in user_mesh
class mjCTexture;
class mjCMaterial;
class mjCPair;
@@ -50,7 +51,6 @@ class mjCNumeric;
class mjCText;
class mjCTuple;
class mjCDef;
class mjCMesh; // defined in user_mesh
class mjCModel; // defined in user_model
class mjXWriter; // defined in xml_native
class mjXURDF; // defined in xml_urdf
@@ -118,10 +118,6 @@ class mjCAlternative {
//------------------------- class mjCBoundingVolumeHierarchy ---------------------------------------
// bounding volume
@@ -132,7 +128,7 @@ class mjCBoundingVolume {
int id; // object id
int contype; // contact type
int conaffinity; // contact affinity
const mjtNum* aabb; // half-sizes of axis-aligned bounding box
const mjtNum* aabb; // axis-aligned bounding box (center, size)
const mjtNum* pos; // position (set by user or Compile1)
const mjtNum* quat; // orientation (set by user or Compile1)
};
@@ -146,11 +142,11 @@ class mjCBoundingVolumeHierarchy {
int nbvh;
std::vector<mjtNum> bvh; // bounding boxes (nbvh x 6)
std::vector<int> child; // children of each node (nbvh x 2)
std::vector<int> nodeid; // id of the geom contained by the node (nbvh x 1)
std::vector<int> nodeid; // geom of elem id contained by the node (nbvh x 1)
std::vector<int> level; // levels of each node (nbvh x 1)
// make bounding volume hierarchy
void CreateBVH();
void CreateBVH(void);
void Set(mjtNum ipos_element[3], mjtNum iquat_element[4]);
void AddBoundingVolume(const mjCBoundingVolume& bv);
@@ -174,7 +170,7 @@ class mjCBase {
public:
// load resource if found (fallback to OS filesystem)
mjResource* LoadResource(std::string filename, const mjVFS* vfs);
static mjResource* LoadResource(std::string filename, const mjVFS* vfs);
// Get and sanitize content type from raw_text if not empty, otherwise parse
// content type from resource_name; throw on failure
@@ -208,6 +204,7 @@ class mjCBody : public mjCBase {
friend class mjCSite;
friend class mjCCamera;
friend class mjCLight;
friend class mjCFlex;
friend class mjCEquality;
friend class mjCPair;
friend class mjCModel;
@@ -266,6 +263,12 @@ class mjCBody : public mjCBase {
int mocapid; // mocap id, -1: not mocap
bool explicitinertial; // whether to save the body with an explicit inertial clause
int contype; // OR over geom contypes
int conaffinity; // OR over geom conaffinities
double margin; // MAX over geom margins
mjtNum xpos0[3]; // global position in qpos0
mjtNum xquat0[4]; // global orientation in qpos0
// used internally by compiler
int lastdof; // id of last dof
int subtreedofs; // number of dofs in subtree, including self
@@ -389,7 +392,7 @@ class mjCGeom : public mjCBase {
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjCAlternative alt; // alternative orientation specifications
// variables set by user or 'Compile1'
// variables set by user or 'Compile'
double pos[3]; // position
double quat[4]; // orientation
@@ -406,7 +409,7 @@ class mjCGeom : public mjCBase {
double inertia[3]; // local diagonal inertia
double locpos[3]; // local position
double locquat[4]; // local orientation
double aabb[6]; // half-sizes of axis-aligned bounding box
double aabb[6]; // axis-aligned bounding box (center, size)
mjCBody* body; // geom's body
};
@@ -524,10 +527,75 @@ class mjCLight : public mjCBase {
//------------------------- class mjCFlex ----------------------------------------------------------
// Describes a flex
class mjCFlex: public mjCBase {
friend class mjCDef;
friend class mjCModel;
friend class mjCFlexcomp;
friend class mjCEquality;
friend class mjXWriter;
public:
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
int condim; // contact dimensionality
int priority; // contact priority
double friction[3]; // one-sided friction coefficients: slide, roll, spin
double solmix; // solver mixing for contact pairs
mjtNum solref[mjNREF]; // solver reference
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap
// other properties
int dim; // element dimensionality
double radius; // radius around primitive element
bool internal; // enable internal collisions
bool flatskin; // render flex skin with flat shading
int selfcollide; // mode for flex self colllision
int activelayers; // number of active element layers in 3D
int group; // group for visualizatioh
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
std::vector<std::string> vertbody; // vertex body names
std::vector<mjtNum> vert; // vertex positions
std::vector<int> elem; // element vertex ids
std::vector<float> texcoord; // vertex texture coordinates
private:
mjCFlex(mjCModel* = 0); // constructor
void Compile(const mjVFS* vfs); // compiler
void CreateBVH(void); // create flex BVH
void CreateShellPair(void); // create shells and evpairs
int nvert; // number of verices
int nedge; // number of edges
int nelem; // number of elements
int matid; // material id
bool rigid; // all vertices attached to the same body
bool centered; // all vertices coordinates (0,0,0)
std::vector<int> vertbodyid; // vertex body ids
std::vector<std::pair<int,int>> edge; // edge vertex ids
std::vector<int> shell; // shell fragment vertex ids (dim per fragment)
std::vector<int> elemlayer; // element layer (distance from border)
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
};
//------------------------- class mjCMesh ----------------------------------------------------------
// Describes a mesh
class mjCMesh: public mjCBase {
friend class mjCFlexcomp;
public:
mjCMesh(mjCModel* = 0, mjCDef* = 0);
~mjCMesh();
@@ -548,7 +616,7 @@ class mjCMesh: public mjCBase {
// mesh properites computed by Compile
const double* boxsz_volume() const { return boxsz_volume_; }
const double* aabb() const { return aabb_; }
const double* aamm() const { return aamm_; }
// number of vertices, normals, texture coordinates, and faces
int nvert() const { return nvert_; }
@@ -652,7 +720,7 @@ class mjCMesh: public mjCBase {
double quat_[4]; // rotation applied to asset vertices
double boxsz_volume_[3]; // half-sizes of equivalent inertia box (volume)
double boxsz_surface_[3]; // half-sizes of equivalent inertia box (surface)
double aabb_[6]; // axis-aligned bounding box
double aamm_[6]; // axis-aligned bounding box in (min, max) format
double volume_; // volume of the mesh
double surface_; // surface of the mesh
@@ -864,7 +932,7 @@ class mjCPair : public mjCBase {
int geom1; // id of geom1
int geom2; // id of geom2
int signature; // (body1+1)<<16 + body2+1
int signature; // body1<<16 + body2
};
@@ -891,7 +959,7 @@ class mjCBodyPair : public mjCBase {
int body1; // id of body1
int body2; // id of body2
int signature; // (body1+1)<<16 + body2+1
int signature; // body1<<16 + body2
};
@@ -1199,6 +1267,7 @@ class mjCDef {
mjCSite site;
mjCCamera camera;
mjCLight light;
mjCFlex flex;
mjCMesh mesh;
mjCMaterial material;
mjCPair pair;