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Fixed a bug that caused dim to be necessary in flexcomp even when it was inferred from GMSH files.

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Fixes #2107.

Co-authored-by: Alessio Quaglino <quaglino@google.com>
PiperOrigin-RevId: 684419740
Change-Id: Ia73e719bd37503563223ed92f4dbe0ae07eef300
This commit is contained in:
Mohammad Hamid
2024-10-10 06:19:40 -07:00
committed by Copybara-Service
parent 22e4f7fc31
commit 694bdebc19
5 changed files with 73 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_flexcomp.cc
+17 -17
View File
@@ -101,7 +101,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
mjsFlex* dflex = def.spec.flex;
int dim = dflex->dim;
bool radial = (type == mjFCOMPTYPE_BOX ||
type == mjFCOMPTYPE_CYLINDER ||
type == mjFCOMPTYPE_ELLIPSOID);
@@ -115,13 +115,13 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// check dim
if (dim < 1 || dim > 3) {
if (dflex->dim < 1 || dflex->dim > 3) {
return comperr(error, "Invalid dim, must be between 1 and 3", error_sz);
}
// check counts
for (int i=0; i < 3; i++) {
if (count[i] < 1 || ((radial && count[i] < 2) && dim == 3)) {
if (count[i] < 1 || ((radial && count[i] < 2) && dflex->dim == 3)) {
return comperr(error, "Count too small", error_sz);
}
}
@@ -191,7 +191,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
// force flatskin shading for box, cylinder and 3D grid
if (type == mjFCOMPTYPE_BOX || type == mjFCOMPTYPE_CYLINDER ||
(type == mjFCOMPTYPE_GRID && dim == 3)) {
(type == mjFCOMPTYPE_GRID && dflex->dim == 3)) {
dflex->flatskin = true;
}
@@ -199,16 +199,16 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
if (pinrange.size()%2) {
return comperr(error, "Pin range number must be multiple of 2", error_sz);
}
if (pingrid.size()%dim) {
if (pingrid.size()%dflex->dim) {
return comperr(error, "Pin grid number must be multiple of dim", error_sz);
}
if (pingridrange.size()%(2*dim)) {
if (pingridrange.size()%(2*dflex->dim)) {
return comperr(error, "Pin grid range number of must be multiple of 2*dim", error_sz);
}
if (type != mjFCOMPTYPE_GRID && !(pingrid.empty() && pingridrange.empty())) {
return comperr(error, "Pin grid(range) can only be used with grid type", error_sz);
}
if (dim == 1 && !(pingrid.empty() && pingridrange.empty())) {
if (dflex->dim == 1 && !(pingrid.empty() && pingridrange.empty())) {
return comperr(error, "Pin grid(range) cannot be used with dim=1", error_sz);
}
@@ -223,7 +223,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// check element size
if (element.size()%(dim+1)) {
if (element.size()%(dflex->dim+1)) {
return comperr(error, "Element size must be a multiple of dim+1", error_sz);
}
@@ -289,41 +289,41 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
}
// process pingrid
for (int i=0; i < (int)pingrid.size(); i+=dim) {
for (int i=0; i < (int)pingrid.size(); i+=dflex->dim) {
// check range
for (int k=0; k < dim; k++) {
for (int k=0; k < dflex->dim; k++) {
if (pingrid[i+k] < 0 || pingrid[i+k] >= count[k]) {
return comperr(error, "pingrid out of range", error_sz);
}
}
// set
if (dim == 2) {
if (dflex->dim == 2) {
pinned[GridID(pingrid[i], pingrid[i+1])] = true;
}
else if (dim == 3) {
else if (dflex->dim == 3) {
pinned[GridID(pingrid[i], pingrid[i+1], pingrid[i+2])] = true;
}
}
// process pingridrange
for (int i=0; i < (int)pingridrange.size(); i+=2*dim) {
for (int i=0; i < (int)pingridrange.size(); i+=2*dflex->dim) {
// check range
for (int k=0; k < 2*dim; k++) {
if (pingridrange[i+k] < 0 || pingridrange[i+k] >= count[k%dim]) {
for (int k=0; k < 2*dflex->dim; k++) {
if (pingridrange[i+k] < 0 || pingridrange[i+k] >= count[k%dflex->dim]) {
return comperr(error, "pingridrange out of range", error_sz);
}
}
// set
if (dim == 2) {
if (dflex->dim == 2) {
for (int ix=pingridrange[i]; ix <= pingridrange[i+2]; ix++) {
for (int iy=pingridrange[i+1]; iy <= pingridrange[i+3]; iy++) {
pinned[GridID(ix, iy)] = true;
}
}
}
else if (dim==3) {
else if (dflex->dim==3) {
for (int ix=pingridrange[i]; ix <= pingridrange[i+3]; ix++) {
for (int iy=pingridrange[i+1]; iy <= pingridrange[i+4]; iy++) {
for (int iz=pingridrange[i+2]; iz <= pingridrange[i+5]; iz++) {
test/user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml
Vendored
+26
View File
@@ -0,0 +1,26 @@
<mujoco model="gmsh">
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<visual>
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<worldbody>
<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
<flexcomp name="cube" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3"
mass="10" scale="1 1 1" file="cube_22_ascii_vol_gmshApp.msh">
<edge equality="true"/>
</flexcomp>
</worldbody>
</mujoco>
test/user/testdata/shark_22_ascii_fTetWild.xml → test/user/testdata/shark_22_ascii_vol_fTetWild.xml
Vendored
View File
test/user/testdata/shark_22_binary_fTetWild.xml → test/user/testdata/shark_22_binary_vol_fTetWild.xml
Vendored
View File
test/user/user_flex_test.cc
+30 -10
View File
@@ -243,7 +243,7 @@ TEST_F(UserFlexTest, RigidFlex) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHBinary_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_binary_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -252,12 +252,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHBinary_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_binary_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -266,12 +267,13 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceBinary_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_binary_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -280,6 +282,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -296,7 +299,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceBinary_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_binary_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -305,6 +308,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -323,19 +327,20 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_binary_fTetWild.xml");
GetTestDataFilePath("user/testdata/shark_22_binary_vol_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 429);
EXPECT_EQ(m->nflexelem, 1073);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHASCII_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_ascii_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -344,12 +349,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCII_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_ascii_vol_gmshApp.xml");
std::array<char, 1024> error;
@@ -358,12 +364,13 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceASCII_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_41_ascii_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -372,6 +379,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -388,7 +396,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHSurfaceASCII_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/cube_22_ascii_surf_gmshApp.xml");
std::array<char, 1024> error;
@@ -397,6 +405,7 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
@@ -415,13 +424,14 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_ascii_fTetWild.xml");
GetTestDataFilePath("user/testdata/shark_22_ascii_vol_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
EXPECT_EQ(m->nflexvert, 425);
EXPECT_EQ(m->nflexelem, 1070);
EXPECT_EQ(m->flex_dim[0], 3);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
@@ -517,5 +527,15 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_dim_missing_in_xml) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/cube_22_ascii_vol_gmshApp_missing_dim.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_EQ(m->flex_dim[0], 3);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco