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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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unity/Runtime/Bindings/MjBindings.cs
+176 -40
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@@ -191,9 +191,10 @@ public enum mjtGeom : int{
mjGEOM_ARROW1 = 101,
mjGEOM_ARROW2 = 102,
mjGEOM_LINE = 103,
mjGEOM_SKIN = 104,
mjGEOM_LABEL = 105,
mjGEOM_TRIANGLE = 106,
mjGEOM_FLEX = 104,
mjGEOM_SKIN = 105,
mjGEOM_LABEL = 106,
mjGEOM_TRIANGLE = 107,
mjGEOM_NONE = 1001,
}
public enum mjtCamLight : int{
@@ -233,7 +234,8 @@ public enum mjtEq : int{
mjEQ_WELD = 1,
mjEQ_JOINT = 2,
mjEQ_TENDON = 3,
mjEQ_DISTANCE = 4,
mjEQ_FLEX = 4,
mjEQ_DISTANCE = 5,
}
public enum mjtWrap : int{
mjWRAP_NONE = 0,
@@ -282,22 +284,23 @@ public enum mjtObj : int{
mjOBJ_SITE = 6,
mjOBJ_CAMERA = 7,
mjOBJ_LIGHT = 8,
mjOBJ_MESH = 9,
mjOBJ_SKIN = 10,
mjOBJ_HFIELD = 11,
mjOBJ_TEXTURE = 12,
mjOBJ_MATERIAL = 13,
mjOBJ_PAIR = 14,
mjOBJ_EXCLUDE = 15,
mjOBJ_EQUALITY = 16,
mjOBJ_TENDON = 17,
mjOBJ_ACTUATOR = 18,
mjOBJ_SENSOR = 19,
mjOBJ_NUMERIC = 20,
mjOBJ_TEXT = 21,
mjOBJ_TUPLE = 22,
mjOBJ_KEY = 23,
mjOBJ_PLUGIN = 24,
mjOBJ_FLEX = 9,
mjOBJ_MESH = 10,
mjOBJ_SKIN = 11,
mjOBJ_HFIELD = 12,
mjOBJ_TEXTURE = 13,
mjOBJ_MATERIAL = 14,
mjOBJ_PAIR = 15,
mjOBJ_EXCLUDE = 16,
mjOBJ_EQUALITY = 17,
mjOBJ_TENDON = 18,
mjOBJ_ACTUATOR = 19,
mjOBJ_SENSOR = 20,
mjOBJ_NUMERIC = 21,
mjOBJ_TEXT = 22,
mjOBJ_TUPLE = 23,
mjOBJ_KEY = 24,
mjOBJ_PLUGIN = 25,
}
public enum mjtConstraint : int{
mjCNSTR_EQUALITY = 0,
@@ -376,6 +379,13 @@ public enum mjtLRMode : int{
mjLRMODE_MUSCLEUSER = 2,
mjLRMODE_ALL = 3,
}
public enum mjtFlexSelf : int{
mjFLEXSELF_NONE = 0,
mjFLEXSELF_NARROW = 1,
mjFLEXSELF_BVH = 2,
mjFLEXSELF_SAP = 3,
mjFLEXSELF_AUTO = 4,
}
public enum mjtPluginCapabilityBit : int{
mjPLUGIN_ACTUATOR = 1,
mjPLUGIN_SENSOR = 2,
@@ -467,13 +477,14 @@ public enum mjtLabel : int{
mjLABEL_TENDON = 7,
mjLABEL_ACTUATOR = 8,
mjLABEL_CONSTRAINT = 9,
mjLABEL_SKIN = 10,
mjLABEL_SELECTION = 11,
mjLABEL_SELPNT = 12,
mjLABEL_CONTACTPOINT = 13,
mjLABEL_CONTACTFORCE = 14,
mjLABEL_ISLAND = 15,
mjNLABEL = 16,
mjLABEL_FLEX = 10,
mjLABEL_SKIN = 11,
mjLABEL_SELECTION = 12,
mjLABEL_SELPNT = 13,
mjLABEL_CONTACTPOINT = 14,
mjLABEL_CONTACTFORCE = 15,
mjLABEL_ISLAND = 16,
mjNLABEL = 17,
}
public enum mjtFrame : int{
mjFRAME_NONE = 0,
@@ -511,10 +522,15 @@ public enum mjtVisFlag : int{
mjVIS_SELECT = 21,
mjVIS_STATIC = 22,
mjVIS_SKIN = 23,
mjVIS_MIDPHASE = 24,
mjVIS_MESHBVH = 25,
mjVIS_SDFITER = 26,
mjNVISFLAG = 27,
mjVIS_FLEXVERT = 24,
mjVIS_FLEXEDGE = 25,
mjVIS_FLEXFACE = 26,
mjVIS_FLEXSKIN = 27,
mjVIS_BODYBVH = 28,
mjVIS_FLEXBVH = 29,
mjVIS_MESHBVH = 30,
mjVIS_SDFITER = 31,
mjNVISFLAG = 32,
}
public enum mjtRndFlag : int{
mjRND_SHADOW = 0,
@@ -553,6 +569,10 @@ public unsafe struct mjContact_ {
public int dim;
public int geom1;
public int geom2;
public fixed int geom[2];
public fixed int flex[2];
public fixed int elem[2];
public fixed int vert[2];
public int exclude;
public int efc_address;
}
@@ -4748,10 +4768,6 @@ public unsafe struct mjData_ {
public fixed int solver_niter[20];
public fixed int solver_nnz[20];
public fixed double solver_fwdinv[2];
public int nbodypair_broad;
public int nbodypair_narrow;
public int ngeompair_mid;
public int ngeompair_narrow;
public int ne;
public int nf;
public int nl;
@@ -4798,13 +4814,20 @@ public unsafe struct mjData_ {
public double* subtree_com;
public double* cdof;
public double* cinert;
public double* flexvert_xpos;
public double* flexelem_aabb;
public int* flexedge_J_rownnz;
public int* flexedge_J_rowadr;
public int* flexedge_J_colind;
public double* flexedge_J;
public double* flexedge_length;
public int* ten_wrapadr;
public int* ten_wrapnum;
public int* ten_J_rownnz;
public int* ten_J_rowadr;
public int* ten_J_colind;
public double* ten_length;
public double* ten_J;
public double* ten_length;
public int* wrap_obj;
public double* wrap_xpos;
public double* actuator_length;
@@ -4814,7 +4837,9 @@ public unsafe struct mjData_ {
public double* qLD;
public double* qLDiagInv;
public double* qLDiagSqrtInv;
public double* bvh_aabb_dyn;
public byte* bvh_active;
public double* flexedge_velocity;
public double* ten_velocity;
public double* actuator_velocity;
public double* cvel;
@@ -4924,6 +4949,7 @@ public unsafe struct mjOption_ {
public double o_margin;
public fixed double o_solref[2];
public fixed double o_solimp[5];
public fixed double o_friction[5];
public int integrator;
public int cone;
public int jacobian;
@@ -5059,11 +5085,21 @@ public unsafe struct mjModel_ {
public int na;
public int nbody;
public int nbvh;
public int nbvhstatic;
public int nbvhdynamic;
public int njnt;
public int ngeom;
public int nsite;
public int ncam;
public int nlight;
public int nflex;
public int nflexvert;
public int nflexedge;
public int nflexelem;
public int nflexelemdata;
public int nflexshelldata;
public int nflexevpair;
public int nflextexcoord;
public int nmesh;
public int nmeshvert;
public int nmeshnormal;
@@ -5148,13 +5184,16 @@ public unsafe struct mjModel_ {
public double* body_inertia;
public double* body_invweight0;
public double* body_gravcomp;
public double* body_margin;
public double* body_user;
public int* body_plugin;
public int* body_contype;
public int* body_conaffinity;
public int* body_bvhadr;
public int* body_bvhnum;
public int* bvh_depth;
public int* bvh_child;
public int* bvh_geomid;
public int* bvh_nodeid;
public double* bvh_aabb;
public int* jnt_type;
public int* jnt_qposadr;
@@ -5251,6 +5290,55 @@ public unsafe struct mjModel_ {
public float* light_ambient;
public float* light_diffuse;
public float* light_specular;
public int* flex_contype;
public int* flex_conaffinity;
public int* flex_condim;
public int* flex_priority;
public double* flex_solmix;
public double* flex_solref;
public double* flex_solimp;
public double* flex_friction;
public double* flex_margin;
public double* flex_gap;
public byte* flex_internal;
public int* flex_selfcollide;
public int* flex_activelayers;
public int* flex_dim;
public int* flex_matid;
public int* flex_group;
public int* flex_vertadr;
public int* flex_vertnum;
public int* flex_edgeadr;
public int* flex_edgenum;
public int* flex_elemadr;
public int* flex_elemnum;
public int* flex_elemdataadr;
public int* flex_shellnum;
public int* flex_shelldataadr;
public int* flex_evpairadr;
public int* flex_evpairnum;
public int* flex_texcoordadr;
public int* flex_vertbodyid;
public int* flex_edge;
public int* flex_elem;
public int* flex_elemlayer;
public int* flex_shell;
public int* flex_evpair;
public double* flex_vert;
public double* flex_xvert0;
public double* flexedge_length0;
public double* flexedge_invweight0;
public double* flex_radius;
public double* flex_edgestiffness;
public double* flex_edgedamping;
public byte* flex_edgeequality;
public byte* flex_rigid;
public byte* flex_centered;
public byte* flex_flatskin;
public int* flex_bvhadr;
public int* flex_bvhnum;
public float* flex_rgba;
public float* flex_texcoord;
public int* mesh_vertadr;
public int* mesh_vertnum;
public int* mesh_faceadr;
@@ -5419,6 +5507,7 @@ public unsafe struct mjModel_ {
public int* name_siteadr;
public int* name_camadr;
public int* name_lightadr;
public int* name_flexadr;
public int* name_meshadr;
public int* name_skinadr;
public int* name_hfieldadr;
@@ -5685,6 +5774,7 @@ public unsafe struct mjuiDef_ {
[StructLayout(LayoutKind.Sequential)]
public unsafe struct mjvPerturb_ {
public int select;
public int flexselect;
public int skinselect;
public int active;
public int active2;
@@ -5770,9 +5860,11 @@ public unsafe struct mjvOption_ {
public fixed byte jointgroup[6];
public fixed byte tendongroup[6];
public fixed byte actuatorgroup[6];
public fixed byte flexgroup[6];
public fixed byte skingroup[6];
public fixed byte flags[27];
public fixed byte flags[32];
public int bvh_depth;
public int flex_layer;
}
[StructLayout(LayoutKind.Sequential)]
@@ -5781,6 +5873,23 @@ public unsafe struct mjvScene_ {
public int ngeom;
public mjvGeom_* geoms;
public int* geomorder;
public int nflex;
public int* flexedgeadr;
public int* flexedgenum;
public int* flexvertadr;
public int* flexvertnum;
public int* flexfaceadr;
public int* flexfacenum;
public int* flexfaceused;
public int* flexedge;
public float* flexvert;
public float* flexface;
public float* flexnormal;
public float* flextexcoord;
public byte flexvertopt;
public byte flexedgeopt;
public byte flexfaceopt;
public byte flexskinopt;
public int nskin;
public int* skinfacenum;
public int* skinvertadr;
@@ -5944,6 +6053,7 @@ public unsafe struct model {
public int na;
public int nbody;
public int nbvh;
public int nbvhstatic;
public int njnt;
public int ngeom;
public int nsite;
@@ -5951,6 +6061,8 @@ public unsafe struct model {
public int nlight;
public int nmesh;
public int nskin;
public int nflex;
public int nflexvert;
public int nskinvert;
public int nskinface;
public int nskinbone;
@@ -5984,7 +6096,7 @@ public unsafe struct model {
public int* body_bvhnum;
public int* bvh_depth;
public int* bvh_child;
public int* bvh_geomid;
public int* bvh_nodeid;
public double* bvh_aabb;
public int* jnt_type;
public int* jnt_bodyid;
@@ -6018,6 +6130,23 @@ public unsafe struct model {
public float* light_ambient;
public float* light_diffuse;
public float* light_specular;
public byte* flex_flatskin;
public int* flex_dim;
public int* flex_matid;
public int* flex_group;
public int* flex_vertadr;
public int* flex_vertnum;
public int* flex_elem;
public int* flex_elemadr;
public int* flex_elemnum;
public int* flex_elemdataadr;
public int* flex_shell;
public int* flex_shellnum;
public int* flex_shelldataadr;
public int* flex_bvhadr;
public int* flex_bvhnum;
public double* flex_radius;
public float* flex_rgba;
public int* mesh_bvhadr;
public int* mesh_bvhnum;
public int* mesh_texcoordadr;
@@ -6139,6 +6268,7 @@ public unsafe struct data {
public int* dof_island;
public int* efc_island;
public int* tendon_efcadr;
public double* flexvert_xpos;
public mjContact_* contact;
public double* efc_force;
}
@@ -6359,6 +6489,9 @@ public static unsafe extern void mj_comPos(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_camlight(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_flex(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_tendon(mjModel_* m, mjData_* d);
@@ -6536,6 +6669,9 @@ public static unsafe extern double mj_rayMesh(mjModel_* m, mjData_* d, int geomi
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_rayGeom(double* pos, double* mat, double* size, double* pnt, double* vec, int geomtype);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_rayFlex(mjModel_* m, mjData_* d, int flex_layer, byte flg_vert, byte flg_edge, byte flg_face, byte flg_skin, int flexid, double* pnt, double* vec, int* vertid);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);
@@ -6594,7 +6730,7 @@ public static unsafe extern void mjv_applyPerturbForce(mjModel_* m, mjData_* d,
public static unsafe extern mjvGLCamera_* mjv_averageCamera(mjvGLCamera_* cam1, mjvGLCamera_* cam2);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mjv_select(mjModel_* m, mjData_* d, mjvOption_* vopt, double aspectratio, double relx, double rely, mjvScene_* scn, double* selpnt, int* geomid, int* skinid);
public static unsafe extern int mjv_select(mjModel_* m, mjData_* d, mjvOption_* vopt, double aspectratio, double relx, double rely, mjvScene_* scn, double* selpnt, int* geomid, int* flexid, int* skinid);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mjv_defaultOption(mjvOption_* opt);