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
+116
-16
@@ -82,6 +82,74 @@ XMLElement* mjXWriter::InsertEnd(XMLElement* parent, const char* name) {
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//---------------------------------- class mjXWriter: one-element writers --------------------------
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// write flex
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void mjXWriter::OneFlex(XMLElement* elem, mjCFlex* pflex) {
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string text;
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mjCFlex defflex;
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// common attributes
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WriteAttrTxt(elem, "name", pflex->name);
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WriteAttr(elem, "radius", 1, &pflex->radius, &defflex.radius);
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if (pflex->material != defflex.material) {
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WriteAttrTxt(elem, "material", pflex->material);
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}
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WriteAttr(elem, "rgba", 4, pflex->rgba, defflex.rgba);
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WriteAttrKey(elem, "flatskin", bool_map, 2, pflex->flatskin, defflex.flatskin);
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WriteAttrInt(elem, "dim", pflex->dim, defflex.dim);
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WriteAttrInt(elem, "group", pflex->group, defflex.group);
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// data vectors
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if (!pflex->vertbody.empty()) {
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Vector2String(text, pflex->vertbody);
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WriteAttrTxt(elem, "body", text);
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}
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if (!pflex->vert.empty()) {
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Vector2String(text, pflex->vert);
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WriteAttrTxt(elem, "vertex", text);
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}
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if (!pflex->elem.empty()) {
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Vector2String(text, pflex->elem);
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WriteAttrTxt(elem, "element", text);
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}
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if (!pflex->texcoord.empty()) {
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Vector2String(text, pflex->texcoord);
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WriteAttrTxt(elem, "texcoord", text);
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}
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// contact subelement
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XMLElement* cont = InsertEnd(elem, "contact");
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WriteAttrInt(cont, "contype", pflex->contype, defflex.contype);
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WriteAttrInt(cont, "conaffinity", pflex->conaffinity, defflex.conaffinity);
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WriteAttrInt(cont, "condim", pflex->condim, defflex.condim);
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WriteAttrInt(cont, "priority", pflex->priority, defflex.priority);
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WriteAttr(cont, "friction", 3, pflex->friction, defflex.friction);
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WriteAttr(cont, "solmix", 1, &pflex->solmix, &defflex.solmix);
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WriteAttr(cont, "solref", mjNREF, pflex->solref, defflex.solref);
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WriteAttr(cont, "solimp", mjNIMP, pflex->solimp, defflex.solimp);
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WriteAttr(cont, "margin", 1, &pflex->margin, &defflex.margin);
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WriteAttr(cont, "gap", 1, &pflex->gap, &defflex.gap);
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WriteAttrKey(cont, "internal", bool_map, 2, pflex->internal, defflex.internal);
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WriteAttrKey(cont, "selfcollide", flexself_map, 5, pflex->selfcollide, defflex.selfcollide);
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WriteAttrInt(cont, "activelayers", pflex->activelayers, defflex.activelayers);
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// remove contact is no attributes
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if (!cont->FirstAttribute()) {
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elem->DeleteChild(cont);
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}
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// edge subelement
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XMLElement* edge = InsertEnd(elem, "edge");
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WriteAttr(edge, "stiffness", 1, &pflex->edgestiffness, &defflex.edgestiffness);
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WriteAttr(edge, "damping", 1, &pflex->edgedamping, &defflex.edgedamping);
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// remove edge if no attributes
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if (!edge->FirstAttribute()) {
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elem->DeleteChild(edge);
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}
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}
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// write mesh
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void mjXWriter::OneMesh(XMLElement* elem, mjCMesh* pmesh, mjCDef* def) {
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string text;
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@@ -221,12 +289,12 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
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// special handling of limits
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bool range_defined = pjoint->range[0]!=0 || pjoint->range[1]!=0;
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bool limited_inferred = def->joint.limited==2 && pjoint->limited==range_defined;
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bool limited_inferred = def->joint.limited==2 && pjoint->limited==(int)range_defined;
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if (writingdefaults || !limited_inferred) {
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WriteAttrKey(elem, "limited", TFAuto_map, 3, pjoint->limited, def->joint.limited);
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}
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bool afrange_defined = pjoint->actfrcrange[0]!=0 || pjoint->actfrcrange[1]!=0;
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bool aflimited_inferred = def->joint.actfrclimited==2 && pjoint->actfrclimited==afrange_defined;
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bool aflimited_inferred = def->joint.actfrclimited==2 && pjoint->actfrclimited==(int)afrange_defined;
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if (writingdefaults || !aflimited_inferred) {
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WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3,
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pjoint->actfrclimited, def->joint.actfrclimited);
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@@ -515,6 +583,10 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
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WriteAttr(elem, "polycoef", 5, peq->data);
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break;
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case mjEQ_FLEX:
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WriteAttrTxt(elem, "flex", peq->name1);
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break;
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default:
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mju_error("mjXWriter: unknown equality type.");
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}
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@@ -540,7 +612,7 @@ void mjXWriter::OneTendon(XMLElement* elem, mjCTendon* pten, mjCDef* def) {
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// special handling of limits
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bool range_defined = pten->range[0]!=0 || pten->range[1]!=0;
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bool limited_inferred = def->tendon.limited==2 && pten->limited==range_defined;
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bool limited_inferred = def->tendon.limited==2 && pten->limited==(int)range_defined;
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if (writingdefaults || !limited_inferred) {
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WriteAttrKey(elem, "limited", TFAuto_map, 3, pten->limited, def->tendon.limited);
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}
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@@ -624,17 +696,17 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
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// special handling of limits
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bool range_defined, limited_inferred;
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range_defined = pact->ctrlrange[0]!=0 || pact->ctrlrange[1]!=0;
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limited_inferred = def->actuator.ctrllimited==2 && pact->ctrllimited==range_defined;
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limited_inferred = def->actuator.ctrllimited==2 && pact->ctrllimited==(int)range_defined;
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if (writingdefaults || !limited_inferred) {
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WriteAttrKey(elem, "ctrllimited", TFAuto_map, 3, pact->ctrllimited, def->actuator.ctrllimited);
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}
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range_defined = pact->forcerange[0]!=0 || pact->forcerange[1]!=0;
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limited_inferred = def->actuator.forcelimited==2 && pact->forcelimited==range_defined;
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limited_inferred = def->actuator.forcelimited==2 && pact->forcelimited==(int)range_defined;
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if (writingdefaults || !limited_inferred) {
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WriteAttrKey(elem, "forcelimited", TFAuto_map, 3, pact->forcelimited, def->actuator.forcelimited);
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}
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range_defined = pact->actrange[0]!=0 || pact->actrange[1]!=0;
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limited_inferred = def->actuator.actlimited==2 && pact->actlimited==range_defined;
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limited_inferred = def->actuator.actlimited==2 && pact->actlimited==(int)range_defined;
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if (writingdefaults || !limited_inferred) {
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WriteAttrKey(elem, "actlimited", TFAuto_map, 3, pact->actlimited, def->actuator.actlimited);
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}
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@@ -750,6 +822,7 @@ string mjXWriter::Write(char *error, size_t error_sz) {
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Asset(root);
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Body(InsertEnd(root, "worldbody"), model->GetWorld());
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Contact(root);
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Deformable(root);
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Equality(root);
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Tendon(root);
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Actuator(root);
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@@ -819,6 +892,7 @@ void mjXWriter::Option(XMLElement* root) {
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WriteAttr(section, "o_margin", 1, &model->option.o_margin, &opt.o_margin);
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WriteAttr(section, "o_solref", mjNREF, model->option.o_solref, opt.o_solref);
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WriteAttr(section, "o_solimp", mjNIMP, model->option.o_solimp, opt.o_solimp);
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WriteAttr(section, "o_friction", 5, model->option.o_friction, opt.o_friction);
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WriteAttrKey(section, "integrator", integrator_map, integrator_sz,
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model->option.integrator, opt.integrator);
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@@ -1261,11 +1335,10 @@ void mjXWriter::Asset(XMLElement* root) {
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int ntex = model->NumObjects(mjOBJ_TEXTURE);
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int nmat = model->NumObjects(mjOBJ_MATERIAL);
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int nmesh = model->NumObjects(mjOBJ_MESH);
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int nskin = model->NumObjects(mjOBJ_SKIN);
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int nhfield = model->NumObjects(mjOBJ_HFIELD);
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// return if empty
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if (ntex==0 && nmat==0 && nmesh==0 && nhfield==0 && nskin==0) {
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if (ntex==0 && nmat==0 && nmesh==0 && nhfield==0) {
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return;
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}
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@@ -1346,14 +1419,6 @@ void mjXWriter::Asset(XMLElement* root) {
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}
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}
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// write skins
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for (int i=0; i<nskin; i++) {
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// create element and write
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mjCSkin* pskin = (mjCSkin*)model->GetObject(mjOBJ_SKIN, i);
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elem = InsertEnd(section, "skin");
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OneSkin(elem, pskin);
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}
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// write hfields
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for (int i=0; i<nhfield; i++) {
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// create element
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@@ -1513,6 +1578,41 @@ void mjXWriter::Equality(XMLElement* root) {
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// deformable section
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void mjXWriter::Deformable(XMLElement* root) {
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XMLElement* elem;
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// get sizes
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int nflex = model->NumObjects(mjOBJ_FLEX);
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int nskin = model->NumObjects(mjOBJ_SKIN);
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// return if empty
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if (nflex==0 && nskin==0) {
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return;
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}
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// create section
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XMLElement* section = InsertEnd(root, "deformable");
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// write flexes
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for (int i=0; i<nflex; i++) {
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// create element and write
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mjCFlex* pflex = (mjCFlex*)model->GetObject(mjOBJ_FLEX, i);
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elem = InsertEnd(section, "flex");
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OneFlex(elem, pflex);
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}
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// write skins
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for (int i=0; i<nskin; i++) {
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// create element and write
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mjCSkin* pskin = (mjCSkin*)model->GetObject(mjOBJ_SKIN, i);
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elem = InsertEnd(section, "skin");
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OneSkin(elem, pskin);
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}
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}
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// tendon section
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void mjXWriter::Tendon(XMLElement* root) {
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// skip section if empty
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