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Add mjmSkin to C API.

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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
This commit is contained in:
Alessio Quaglino
2024-02-15 05:07:51 -08:00
committed by Copybara-Service
parent bafe490ea8
commit 6f958bc404
13 changed files with 630 additions and 420 deletions
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src/user/user_composite.h
+17 -6
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@@ -20,6 +20,7 @@
#include <vector>
#include <mujoco/mjmodel.h>
#include "user/user_api.h"
#include "user/user_model.h"
#include "user/user_objects.h"
@@ -79,14 +80,14 @@ class mjCComposite {
void MakeSkin2(mjCModel* model, mjtNum inflate);
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
void MakeClothBones(mjCModel* model, mjCSkin* skin);
void MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin);
void MakeCableBones(mjCModel* model, mjCSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjCSkin* skin);
void MakeClothBones(mjCModel* model, mjmSkin* skin);
void MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin);
void MakeCableBones(mjCModel* model, mjmSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin);
void MakeSkin3(mjCModel* model);
void MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
void MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
void MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
void MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
const std::map<std::string, int>& vmap, const char* format);
void BoxProject(double* pos);
@@ -138,6 +139,16 @@ class mjCComposite {
private:
mjmBody* AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1);
mjmBody* AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
// temporary skin vectors
void CopyIntoSkin(mjmSkin* skin);
std::vector<int> face;
std::vector<float> vert;
std::vector<float> bindpos;
std::vector<float> bindquat;
std::vector<float> texcoord;
std::vector<std::vector<int>> vertid;
std::vector<std::vector<float>> vertweight;
};
#endif // MUJOCO_SRC_USER_USER_COMPOSITE_H_