Add mjmSkin to C API.
PiperOrigin-RevId: 607295996 Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
bafe490ea8
commit
6f958bc404
+253
-231
@@ -279,6 +279,15 @@ bool mjCComposite::Make(mjCModel* model, mjmBody* body, char* error, int error_s
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}
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}
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// clear skin vectors
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face.clear();
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vert.clear();
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bindpos.clear();
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bindquat.clear();
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texcoord.clear();
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vertid.clear();
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vertweight.clear();
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// require 3x3 for subgrid
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if (skin && skinsubgrid>0 && type!=mjCOMPTYPE_CABLE) {
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if (count[0]<3 || count[1]<3) {
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@@ -1238,57 +1247,80 @@ void mjCComposite::MakeShear(mjCModel* model) {
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// copy local vectors to skin
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void mjCComposite::CopyIntoSkin(mjmSkin* skin) {
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mjm_setInt(skin->face, face.data(), face.size());
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mjm_setFloat(skin->vert, vert.data(), vert.size());
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mjm_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
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mjm_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
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mjm_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
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for (int i=0; i<vertid.size(); i++) {
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mjm_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
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}
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for (int i=0; i< vertweight.size(); i++) {
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mjm_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
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}
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face.clear();
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vert.clear();
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bindpos.clear();
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bindquat.clear();
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texcoord.clear();
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vertid.clear();
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vertweight.clear();
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}
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// add skin to 2D
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void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
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char txt[100];
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int N = count[0]*count[1];
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// add skin, set name and material
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mjCSkin* skin = model->AddSkin();
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mjmSkin* skin = mjm_addSkin(model);
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mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
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skin->name = txt;
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skin->set_material(skinmaterial);
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mjm_setString(skin->name, txt);
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mjm_setString(skin->material, skinmaterial.c_str());
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mjuu_copyvec(skin->rgba, skinrgba, 4);
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skin->inflate = inflate;
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skin->group = skingroup;
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// copy skin from existing mesh
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if (type==mjCOMPTYPE_PARTICLE && username.empty()) {
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std::vector<int> face;
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mjXUtil::String2Vector(userface, face);
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std::vector<int> skinface;
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mjXUtil::String2Vector(userface, skinface);
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int nvert = uservert.size()/3;
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for (int j=0; j<2; j++) {
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for (int i=0; i<nvert; i++) {
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skin->vert.push_back(0);
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skin->vert.push_back(0);
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skin->vert.push_back(0);
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vert.push_back(0);
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vert.push_back(0);
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vert.push_back(0);
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mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
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skin->bodyname.push_back(txt);
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skin->bindpos.push_back(0);
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skin->bindpos.push_back(0);
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skin->bindpos.push_back(0);
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skin->bindquat.push_back(1);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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mjm_appendString(skin->bodyname, txt);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindquat.push_back(1);
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bindquat.push_back(0);
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bindquat.push_back(0);
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bindquat.push_back(0);
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vector<int> vertid;
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vector<float> vertweight;
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vertid.push_back(j*nvert+i);
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vertweight.push_back(1);
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skin->vertid.push_back(vertid);
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skin->vertweight.push_back(vertweight);
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vertid.push_back({j*nvert+i});
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vertweight.push_back({1});
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}
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for (int i=0; i<face.size()/3; i++) {
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skin->face.push_back(j*nvert+face[3*i]);
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skin->face.push_back(j*nvert+face[3*i+(j==0 ? 1 : 2)]);
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skin->face.push_back(j*nvert+face[3*i+(j==0 ? 2 : 1)]);
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for (int i=0; i<skinface.size()/3; i++) {
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face.push_back(j*nvert+skinface[3*i]);
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face.push_back(j*nvert+skinface[3*i+(j==0 ? 1 : 2)]);
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face.push_back(j*nvert+skinface[3*i+(j==0 ? 2 : 1)]);
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}
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}
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CopyIntoSkin(skin);
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return;
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}
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@@ -1297,25 +1329,25 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
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for (int ix=0; ix<count[0]; ix++) {
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for (int iy=0; iy<count[1]; iy++) {
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// vertex
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skin->vert.push_back(0);
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skin->vert.push_back(0);
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skin->vert.push_back(0);
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vert.push_back(0);
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vert.push_back(0);
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vert.push_back(0);
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// texture coordinate
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if (skintexcoord) {
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skin->texcoord.push_back(ix/(float)(count[0]-1));
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skin->texcoord.push_back(iy/(float)(count[1]-1));
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texcoord.push_back(ix/(float)(count[0]-1));
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texcoord.push_back(iy/(float)(count[1]-1));
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}
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// face
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if (ix<count[0]-1 && iy<count[1]-1) {
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skin->face.push_back(i*N + ix*count[1]+iy);
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skin->face.push_back(i*N + (ix+1)*count[1]+iy+(i==1));
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skin->face.push_back(i*N + (ix+1)*count[1]+iy+(i==0));
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face.push_back(i*N + ix*count[1]+iy);
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face.push_back(i*N + (ix+1)*count[1]+iy+(i==1));
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face.push_back(i*N + (ix+1)*count[1]+iy+(i==0));
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skin->face.push_back(i*N + ix*count[1]+iy);
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skin->face.push_back(i*N + (ix+(i==0))*count[1]+iy+1);
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skin->face.push_back(i*N + (ix+(i==1))*count[1]+iy+1);
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face.push_back(i*N + ix*count[1]+iy);
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face.push_back(i*N + (ix+(i==0))*count[1]+iy+1);
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face.push_back(i*N + (ix+(i==1))*count[1]+iy+1);
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}
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}
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}
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@@ -1323,46 +1355,46 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
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// add thin triangles: X direction, iy = 0
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for (int ix=0; ix<count[0]-1; ix++) {
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skin->face.push_back(ix*count[1]);
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skin->face.push_back(N + (ix+1)*count[1]);
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skin->face.push_back((ix+1)*count[1]);
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face.push_back(ix*count[1]);
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face.push_back(N + (ix+1)*count[1]);
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face.push_back((ix+1)*count[1]);
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skin->face.push_back(ix*count[1]);
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skin->face.push_back(N + ix*count[1]);
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skin->face.push_back(N + (ix+1)*count[1]);
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face.push_back(ix*count[1]);
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face.push_back(N + ix*count[1]);
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face.push_back(N + (ix+1)*count[1]);
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}
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// add thin triangles: X direction, iy = count[1]-1
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for (int ix=0; ix<count[0]-1; ix++) {
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skin->face.push_back(ix*count[1] + count[1]-1);
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skin->face.push_back((ix+1)*count[1] + count[1]-1);
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skin->face.push_back(N + (ix+1)*count[1] + count[1]-1);
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face.push_back(ix*count[1] + count[1]-1);
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face.push_back((ix+1)*count[1] + count[1]-1);
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face.push_back(N + (ix+1)*count[1] + count[1]-1);
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skin->face.push_back(ix*count[1] + count[1]-1);
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skin->face.push_back(N + (ix+1)*count[1] + count[1]-1);
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skin->face.push_back(N + ix*count[1] + count[1]-1);
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face.push_back(ix*count[1] + count[1]-1);
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face.push_back(N + (ix+1)*count[1] + count[1]-1);
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face.push_back(N + ix*count[1] + count[1]-1);
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}
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// add thin triangles: Y direction, ix = 0
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for (int iy=0; iy<count[1]-1; iy++) {
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skin->face.push_back(iy);
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skin->face.push_back(iy+1);
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skin->face.push_back(N + iy+1);
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face.push_back(iy);
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face.push_back(iy+1);
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face.push_back(N + iy+1);
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skin->face.push_back(iy);
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skin->face.push_back(N + iy+1);
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skin->face.push_back(N + iy);
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face.push_back(iy);
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face.push_back(N + iy+1);
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face.push_back(N + iy);
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}
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// add thin triangles: Y direction, ix = count[0]-1
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for (int iy=0; iy<count[1]-1; iy++) {
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skin->face.push_back(iy + (count[0]-1)*count[1]);
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skin->face.push_back(N + iy+1 + (count[0]-1)*count[1]);
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skin->face.push_back(iy+1 + (count[0]-1)*count[1]);
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face.push_back(iy + (count[0]-1)*count[1]);
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face.push_back(N + iy+1 + (count[0]-1)*count[1]);
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face.push_back(iy+1 + (count[0]-1)*count[1]);
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skin->face.push_back(iy + (count[0]-1)*count[1]);
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skin->face.push_back(N + iy + (count[0]-1)*count[1]);
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skin->face.push_back(N + iy+1 + (count[0]-1)*count[1]);
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face.push_back(iy + (count[0]-1)*count[1]);
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face.push_back(N + iy + (count[0]-1)*count[1]);
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face.push_back(N + iy+1 + (count[0]-1)*count[1]);
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}
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// couple with bones
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@@ -1371,12 +1403,14 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
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} else if (type==mjCOMPTYPE_CABLE) {
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MakeCableBones(model, skin);
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}
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CopyIntoSkin(skin);
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}
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// add bones in 2D
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void mjCComposite::MakeClothBones(mjCModel* model, mjCSkin* skin) {
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void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
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char txt[100];
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int N = count[0]*count[1];
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@@ -1391,31 +1425,25 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjCSkin* skin) {
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}
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// bind pose
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skin->bodyname.push_back(txt);
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skin->bindpos.push_back(0);
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skin->bindpos.push_back(0);
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skin->bindpos.push_back(0);
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skin->bindquat.push_back(1);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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mjm_appendString(skin->bodyname, txt);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindpos.push_back(0);
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bindquat.push_back(1);
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bindquat.push_back(0);
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bindquat.push_back(0);
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bindquat.push_back(0);
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// create vertid and vertweight
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vector<int> vertid;
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vector<float> vertweight;
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vertid.push_back(ix*count[1]+iy);
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vertid.push_back(N + ix*count[1]+iy);
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vertweight.push_back(1);
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vertweight.push_back(1);
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skin->vertid.push_back(vertid);
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skin->vertweight.push_back(vertweight);
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vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
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vertweight.push_back({1, 1});
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}
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}
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}
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void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin) {
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void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
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char txt[100];
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// populate bones
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@@ -1429,20 +1457,18 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin) {
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}
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// bind pose
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skin->bodyname.push_back(txt);
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skin->bindpos.push_back(ix*spacing);
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skin->bindpos.push_back(iy*spacing);
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skin->bindpos.push_back(0);
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skin->bindquat.push_back(1);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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skin->bindquat.push_back(0);
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mjm_appendString(skin->bodyname, txt);
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bindpos.push_back(ix*spacing);
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bindpos.push_back(iy*spacing);
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bindpos.push_back(0);
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bindquat.push_back(1);
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bindquat.push_back(0);
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bindquat.push_back(0);
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bindquat.push_back(0);
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// empty vertid and vertweight
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vector<int> vertid;
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vector<float> vertweight;
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skin->vertid.push_back(vertid);
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skin->vertweight.push_back(vertweight);
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vertid.push_back({});
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vertweight.push_back({});
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}
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}
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}
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@@ -1450,7 +1476,7 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin) {
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// add bones to 1D
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void mjCComposite::MakeCableBones(mjCModel* model, mjCSkin* skin) {
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void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
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char this_body[100];
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int N = count[0]*count[1];
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@@ -1468,31 +1494,31 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjCSkin* skin) {
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// bind pose
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if (iy==0) {
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skin->bodyname.push_back(this_body);
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skin->bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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skin->bindpos.push_back(-def[0].geom.spec.size[1]);
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skin->bindpos.push_back(0);
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skin->bindquat.push_back(1); skin->bindquat.push_back(0);
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skin->bindquat.push_back(0); skin->bindquat.push_back(0);
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mjm_appendString(skin->bodyname, this_body);
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bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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bindpos.push_back(-def[0].geom.spec.size[1]);
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bindpos.push_back(0);
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bindquat.push_back(1); bindquat.push_back(0);
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bindquat.push_back(0); bindquat.push_back(0);
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} else {
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skin->bodyname.push_back(this_body);
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skin->bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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skin->bindpos.push_back(def[0].geom.spec.size[1]);
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skin->bindpos.push_back(0);
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skin->bindquat.push_back(1); skin->bindquat.push_back(0);
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skin->bindquat.push_back(0); skin->bindquat.push_back(0);
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mjm_appendString(skin->bodyname, this_body);
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bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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bindpos.push_back(def[0].geom.spec.size[1]);
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bindpos.push_back(0);
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bindquat.push_back(1); bindquat.push_back(0);
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bindquat.push_back(0); bindquat.push_back(0);
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}
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// create vertid and vertweight
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skin->vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
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skin->vertweight.push_back({1, 1});
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vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
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vertweight.push_back({1, 1});
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}
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}
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}
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void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjCSkin* skin) {
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void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin) {
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// populate bones
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for (int ix=0; ix<count[0]; ix++) {
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for (int iy=0; iy<count[1]; iy++) {
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@@ -1509,27 +1535,27 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjCSkin* skin) {
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// bind pose
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if (iy==0) {
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skin->bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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skin->bindpos.push_back(-def[0].geom.spec.size[1]);
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skin->bindpos.push_back(0);
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bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
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bindpos.push_back(-def[0].geom.spec.size[1]);
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bindpos.push_back(0);
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} else if (iy==2) {
|
||||
skin->bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
|
||||
skin->bindpos.push_back(def[0].geom.spec.size[1]);
|
||||
skin->bindpos.push_back(0);
|
||||
bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
|
||||
bindpos.push_back(def[0].geom.spec.size[1]);
|
||||
bindpos.push_back(0);
|
||||
} else {
|
||||
skin->bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindpos.push_back(0);
|
||||
bindpos.push_back((ix==count[0]-1) ? -2*def[0].geom.spec.size[0] : 0);
|
||||
bindpos.push_back(0);
|
||||
bindpos.push_back(0);
|
||||
}
|
||||
skin->bodyname.push_back(txt);
|
||||
skin->bindquat.push_back(1);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
mjm_appendString(skin->bodyname, txt);
|
||||
bindquat.push_back(1);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
|
||||
// empty vertid and vertweight
|
||||
skin->vertid.push_back({});
|
||||
skin->vertweight.push_back({});
|
||||
vertid.push_back({});
|
||||
vertweight.push_back({});
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1846,10 +1872,10 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
||||
|
||||
// add skin, set name and material
|
||||
char txt[100];
|
||||
mjCSkin* skin = model->AddSkin();
|
||||
mjmSkin* skin = mjm_addSkin(model);
|
||||
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
||||
skin->name = txt;
|
||||
skin->set_material(skinmaterial);
|
||||
mjm_setString(skin->name, txt);
|
||||
mjm_setString(skin->material, skinmaterial.c_str());
|
||||
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
||||
skin->inflate = inflate;
|
||||
skin->group = skingroup;
|
||||
@@ -1863,25 +1889,25 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
||||
for (int ix=0; ix<C0; ix++) {
|
||||
for (int iy=0; iy<C1; iy++) {
|
||||
// vertex
|
||||
skin->vert.push_back(ix*S);
|
||||
skin->vert.push_back(iy*S);
|
||||
skin->vert.push_back(0);
|
||||
vert.push_back(ix*S);
|
||||
vert.push_back(iy*S);
|
||||
vert.push_back(0);
|
||||
|
||||
// texture coordinate
|
||||
if (skintexcoord) {
|
||||
skin->texcoord.push_back(ix/(float)(C0-1));
|
||||
skin->texcoord.push_back(iy/(float)(C1-1));
|
||||
texcoord.push_back(ix/(float)(C0-1));
|
||||
texcoord.push_back(iy/(float)(C1-1));
|
||||
}
|
||||
|
||||
// face
|
||||
if (ix<C0-1 && iy<C1-1) {
|
||||
skin->face.push_back(i*NN + ix*C1+iy);
|
||||
skin->face.push_back(i*NN + (ix+1)*C1+iy+(i==1));
|
||||
skin->face.push_back(i*NN + (ix+1)*C1+iy+(i==0));
|
||||
face.push_back(i*NN + ix*C1+iy);
|
||||
face.push_back(i*NN + (ix+1)*C1+iy+(i==1));
|
||||
face.push_back(i*NN + (ix+1)*C1+iy+(i==0));
|
||||
|
||||
skin->face.push_back(i*NN + ix*C1+iy);
|
||||
skin->face.push_back(i*NN + (ix+(i==0))*C1+iy+1);
|
||||
skin->face.push_back(i*NN + (ix+(i==1))*C1+iy+1);
|
||||
face.push_back(i*NN + ix*C1+iy);
|
||||
face.push_back(i*NN + (ix+(i==0))*C1+iy+1);
|
||||
face.push_back(i*NN + (ix+(i==1))*C1+iy+1);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1889,46 +1915,46 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
||||
|
||||
// add thin triangles: X direction, iy = 0
|
||||
for (int ix=0; ix<C0-1; ix++) {
|
||||
skin->face.push_back(ix*C1);
|
||||
skin->face.push_back(NN + (ix+1)*C1);
|
||||
skin->face.push_back((ix+1)*C1);
|
||||
face.push_back(ix*C1);
|
||||
face.push_back(NN + (ix+1)*C1);
|
||||
face.push_back((ix+1)*C1);
|
||||
|
||||
skin->face.push_back(ix*C1);
|
||||
skin->face.push_back(NN + ix*C1);
|
||||
skin->face.push_back(NN + (ix+1)*C1);
|
||||
face.push_back(ix*C1);
|
||||
face.push_back(NN + ix*C1);
|
||||
face.push_back(NN + (ix+1)*C1);
|
||||
}
|
||||
|
||||
// add thin triangles: X direction, iy = C1-1
|
||||
for (int ix=0; ix<C0-1; ix++) {
|
||||
skin->face.push_back(ix*C1 + C1-1);
|
||||
skin->face.push_back((ix+1)*C1 + C1-1);
|
||||
skin->face.push_back(NN + (ix+1)*C1 + C1-1);
|
||||
face.push_back(ix*C1 + C1-1);
|
||||
face.push_back((ix+1)*C1 + C1-1);
|
||||
face.push_back(NN + (ix+1)*C1 + C1-1);
|
||||
|
||||
skin->face.push_back(ix*C1 + C1-1);
|
||||
skin->face.push_back(NN + (ix+1)*C1 + C1-1);
|
||||
skin->face.push_back(NN + ix*C1 + C1-1);
|
||||
face.push_back(ix*C1 + C1-1);
|
||||
face.push_back(NN + (ix+1)*C1 + C1-1);
|
||||
face.push_back(NN + ix*C1 + C1-1);
|
||||
}
|
||||
|
||||
// add thin triangles: Y direction, ix = 0
|
||||
for (int iy=0; iy<C1-1; iy++) {
|
||||
skin->face.push_back(iy);
|
||||
skin->face.push_back(iy+1);
|
||||
skin->face.push_back(NN + iy+1);
|
||||
face.push_back(iy);
|
||||
face.push_back(iy+1);
|
||||
face.push_back(NN + iy+1);
|
||||
|
||||
skin->face.push_back(iy);
|
||||
skin->face.push_back(NN + iy+1);
|
||||
skin->face.push_back(NN + iy);
|
||||
face.push_back(iy);
|
||||
face.push_back(NN + iy+1);
|
||||
face.push_back(NN + iy);
|
||||
}
|
||||
|
||||
// add thin triangles: Y direction, ix = C0-1
|
||||
for (int iy=0; iy<C1-1; iy++) {
|
||||
skin->face.push_back(iy + (C0-1)*C1);
|
||||
skin->face.push_back(NN + iy+1 + (C0-1)*C1);
|
||||
skin->face.push_back(iy+1 + (C0-1)*C1);
|
||||
face.push_back(iy + (C0-1)*C1);
|
||||
face.push_back(NN + iy+1 + (C0-1)*C1);
|
||||
face.push_back(iy+1 + (C0-1)*C1);
|
||||
|
||||
skin->face.push_back(iy + (C0-1)*C1);
|
||||
skin->face.push_back(NN + iy + (C0-1)*C1);
|
||||
skin->face.push_back(NN + iy+1 + (C0-1)*C1);
|
||||
face.push_back(iy + (C0-1)*C1);
|
||||
face.push_back(NN + iy + (C0-1)*C1);
|
||||
face.push_back(NN + iy+1 + (C0-1)*C1);
|
||||
}
|
||||
|
||||
if (type==mjCOMPTYPE_PARTICLE || type==mjCOMPTYPE_GRID) {
|
||||
@@ -1966,10 +1992,10 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
||||
for (int bi=0; bi<16; bi++) {
|
||||
mjtNum w = Weight[d*N*16 + n*16 + bi];
|
||||
if (w) {
|
||||
skin->vertid[boneid[bi]].push_back(vid);
|
||||
skin->vertid[boneid[bi]].push_back(vid+NN);
|
||||
skin->vertweight[boneid[bi]].push_back((float)w);
|
||||
skin->vertweight[boneid[bi]].push_back((float)w);
|
||||
vertid[boneid[bi]].push_back(vid);
|
||||
vertid[boneid[bi]].push_back(vid+NN);
|
||||
vertweight[boneid[bi]].push_back((float)w);
|
||||
vertweight[boneid[bi]].push_back((float)w);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1977,6 +2003,8 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
||||
}
|
||||
}
|
||||
|
||||
CopyIntoSkin(skin);
|
||||
|
||||
// free allocations
|
||||
mju_free(XY);
|
||||
mju_free(XY_W);
|
||||
@@ -1999,10 +2027,10 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
mju::sprintf_arr(cnt2, "%d", count[2]-1);
|
||||
|
||||
// add skin, set name and material
|
||||
mjCSkin* skin = model->AddSkin();
|
||||
mjmSkin* skin = mjm_addSkin(model);
|
||||
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
||||
skin->name = txt;
|
||||
skin->set_material(skinmaterial);
|
||||
mjm_setString(skin->name, txt);
|
||||
mjm_setString(skin->material, skinmaterial.c_str());
|
||||
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
||||
skin->inflate = skininflate;
|
||||
skin->group = skingroup;
|
||||
@@ -2038,9 +2066,9 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
||||
|
||||
// add vertex
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
|
||||
// texture coordinate
|
||||
if (skintexcoord) {
|
||||
@@ -2053,8 +2081,8 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
Y = iz/(float)(count[2]-1);
|
||||
}
|
||||
|
||||
skin->texcoord.push_back(X);
|
||||
skin->texcoord.push_back(Y);
|
||||
texcoord.push_back(X);
|
||||
texcoord.push_back(Y);
|
||||
}
|
||||
|
||||
// save vertex id in map
|
||||
@@ -2095,9 +2123,9 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
||||
|
||||
// add vertex
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
|
||||
// texture coordinate
|
||||
if (skintexcoord) {
|
||||
@@ -2113,8 +2141,8 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
Y = iy/(float)(count[1]-1);
|
||||
}
|
||||
|
||||
skin->texcoord.push_back(X);
|
||||
skin->texcoord.push_back(Y);
|
||||
texcoord.push_back(X);
|
||||
texcoord.push_back(Y);
|
||||
}
|
||||
|
||||
// save vertex id in map
|
||||
@@ -2140,12 +2168,14 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
||||
fmt = "%sB" + string(cnt0) + "_%d_%d";
|
||||
MakeSkin3Smooth(skin, count[1], count[2], 0, vmap, fmt.c_str());
|
||||
}
|
||||
|
||||
CopyIntoSkin(skin);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// make one face of 3D skin, box
|
||||
void mjCComposite::MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side,
|
||||
void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
|
||||
int& vcnt, const char* format) {
|
||||
char txt[100];
|
||||
|
||||
@@ -2153,47 +2183,43 @@ void mjCComposite::MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side,
|
||||
for (int i0=0; i0<c0; i0++) {
|
||||
for (int i1=0; i1<c1; i1++) {
|
||||
// vertex
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
skin->vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
vert.push_back(0);
|
||||
|
||||
// texture coordinate
|
||||
if (skintexcoord) {
|
||||
skin->texcoord.push_back(i0/(float)(c0-1));
|
||||
skin->texcoord.push_back(i1/(float)(c1-1));
|
||||
texcoord.push_back(i0/(float)(c0-1));
|
||||
texcoord.push_back(i1/(float)(c1-1));
|
||||
}
|
||||
|
||||
// face
|
||||
if (i0<c0-1 && i1<c1-1) {
|
||||
skin->face.push_back(vcnt + i0*c1+i1);
|
||||
skin->face.push_back(vcnt + (i0+1)*c1+i1+(side==1));
|
||||
skin->face.push_back(vcnt + (i0+1)*c1+i1+(side==0));
|
||||
face.push_back(vcnt + i0*c1+i1);
|
||||
face.push_back(vcnt + (i0+1)*c1+i1+(side==1));
|
||||
face.push_back(vcnt + (i0+1)*c1+i1+(side==0));
|
||||
|
||||
skin->face.push_back(vcnt + i0*c1+i1);
|
||||
skin->face.push_back(vcnt + (i0+(side==0))*c1+i1+1);
|
||||
skin->face.push_back(vcnt + (i0+(side==1))*c1+i1+1);
|
||||
face.push_back(vcnt + i0*c1+i1);
|
||||
face.push_back(vcnt + (i0+(side==0))*c1+i1+1);
|
||||
face.push_back(vcnt + (i0+(side==1))*c1+i1+1);
|
||||
}
|
||||
|
||||
// body name
|
||||
mju::sprintf_arr(txt, format, prefix.c_str(), i0, i1);
|
||||
|
||||
// bind pose: origin
|
||||
skin->bodyname.push_back(txt);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindquat.push_back(1);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
mjm_appendString(skin->bodyname, txt);
|
||||
bindpos.push_back(0);
|
||||
bindpos.push_back(0);
|
||||
bindpos.push_back(0);
|
||||
bindquat.push_back(1);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
|
||||
// vertid and vertweight
|
||||
vector<int> vertid;
|
||||
vector<float> vertweight;
|
||||
vertid.push_back(vcnt + i0*c1+i1);
|
||||
vertweight.push_back(1);
|
||||
skin->vertid.push_back(vertid);
|
||||
skin->vertweight.push_back(vertweight);
|
||||
vertid.push_back({vcnt + i0*c1+i1});
|
||||
vertweight.push_back({1});
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2204,7 +2230,7 @@ void mjCComposite::MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side,
|
||||
|
||||
|
||||
// make one face of 3D skin, smooth
|
||||
void mjCComposite::MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
|
||||
void mjCComposite::MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
|
||||
const std::map<string, int>& vmap, const char* format) {
|
||||
char txt00[100], txt01[100], txt10[100], txt11[100];
|
||||
|
||||
@@ -2220,41 +2246,37 @@ void mjCComposite::MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
|
||||
// face
|
||||
if (i0<c0-1 && i1<c1-1) {
|
||||
if (side==0) {
|
||||
skin->face.push_back(vmap.find(txt00)->second);
|
||||
skin->face.push_back(vmap.find(txt10)->second);
|
||||
skin->face.push_back(vmap.find(txt11)->second);
|
||||
face.push_back(vmap.find(txt00)->second);
|
||||
face.push_back(vmap.find(txt10)->second);
|
||||
face.push_back(vmap.find(txt11)->second);
|
||||
|
||||
skin->face.push_back(vmap.find(txt00)->second);
|
||||
skin->face.push_back(vmap.find(txt11)->second);
|
||||
skin->face.push_back(vmap.find(txt01)->second);
|
||||
face.push_back(vmap.find(txt00)->second);
|
||||
face.push_back(vmap.find(txt11)->second);
|
||||
face.push_back(vmap.find(txt01)->second);
|
||||
} else {
|
||||
skin->face.push_back(vmap.find(txt00)->second);
|
||||
skin->face.push_back(vmap.find(txt01)->second);
|
||||
skin->face.push_back(vmap.find(txt11)->second);
|
||||
face.push_back(vmap.find(txt00)->second);
|
||||
face.push_back(vmap.find(txt01)->second);
|
||||
face.push_back(vmap.find(txt11)->second);
|
||||
|
||||
skin->face.push_back(vmap.find(txt00)->second);
|
||||
skin->face.push_back(vmap.find(txt11)->second);
|
||||
skin->face.push_back(vmap.find(txt10)->second);
|
||||
face.push_back(vmap.find(txt00)->second);
|
||||
face.push_back(vmap.find(txt11)->second);
|
||||
face.push_back(vmap.find(txt10)->second);
|
||||
}
|
||||
}
|
||||
|
||||
// bind pose: origin
|
||||
skin->bodyname.push_back(txt00);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindpos.push_back(0);
|
||||
skin->bindquat.push_back(1);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
skin->bindquat.push_back(0);
|
||||
mjm_appendString(skin->bodyname, txt00);
|
||||
bindpos.push_back(0);
|
||||
bindpos.push_back(0);
|
||||
bindpos.push_back(0);
|
||||
bindquat.push_back(1);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
bindquat.push_back(0);
|
||||
|
||||
// vertid and vertweight
|
||||
vector<int> vertid;
|
||||
vector<float> vertweight;
|
||||
vertid.push_back(vmap.find(txt00)->second);
|
||||
vertweight.push_back(1);
|
||||
skin->vertid.push_back(vertid);
|
||||
skin->vertweight.push_back(vertweight);
|
||||
vertid.push_back({vmap.find(txt00)->second});
|
||||
vertweight.push_back({1});
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user