Adds built-in superellipsoid mesh.
PiperOrigin-RevId: 791196831 Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
e74cee652f
commit
705ec6d7fb
+130
-129
@@ -557,24 +557,24 @@ const mjMap TFAuto_map[3] = {
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// joint type
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const int joint_sz = 4;
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const mjMap joint_map[joint_sz] = {
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{"free", mjJNT_FREE},
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{"ball", mjJNT_BALL},
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{"slide", mjJNT_SLIDE},
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{"hinge", mjJNT_HINGE}
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{"free", mjJNT_FREE},
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{"ball", mjJNT_BALL},
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{"slide", mjJNT_SLIDE},
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{"hinge", mjJNT_HINGE}
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};
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// geom type
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const mjMap geom_map[mjNGEOMTYPES] = {
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{"plane", mjGEOM_PLANE},
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{"hfield", mjGEOM_HFIELD},
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{"sphere", mjGEOM_SPHERE},
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{"capsule", mjGEOM_CAPSULE},
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{"ellipsoid", mjGEOM_ELLIPSOID},
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{"cylinder", mjGEOM_CYLINDER},
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{"box", mjGEOM_BOX},
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{"mesh", mjGEOM_MESH},
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{"sdf", mjGEOM_SDF}
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{"plane", mjGEOM_PLANE},
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{"hfield", mjGEOM_HFIELD},
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{"sphere", mjGEOM_SPHERE},
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{"capsule", mjGEOM_CAPSULE},
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{"ellipsoid", mjGEOM_ELLIPSOID},
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{"cylinder", mjGEOM_CYLINDER},
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{"box", mjGEOM_BOX},
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{"mesh", mjGEOM_MESH},
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{"sdf", mjGEOM_SDF}
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};
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@@ -617,267 +617,268 @@ const mjMap texrole_map[texrole_sz] = {
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// integrator type
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const int integrator_sz = 4;
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const mjMap integrator_map[integrator_sz] = {
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{"Euler", mjINT_EULER},
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{"RK4", mjINT_RK4},
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{"implicit", mjINT_IMPLICIT},
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{"implicitfast", mjINT_IMPLICITFAST}
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{"Euler", mjINT_EULER},
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{"RK4", mjINT_RK4},
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{"implicit", mjINT_IMPLICIT},
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{"implicitfast", mjINT_IMPLICITFAST}
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};
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// cone type
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const int cone_sz = 2;
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const mjMap cone_map[cone_sz] = {
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{"pyramidal", mjCONE_PYRAMIDAL},
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{"elliptic", mjCONE_ELLIPTIC}
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{"pyramidal", mjCONE_PYRAMIDAL},
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{"elliptic", mjCONE_ELLIPTIC}
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};
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// Jacobian type
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const int jac_sz = 3;
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const mjMap jac_map[jac_sz] = {
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{"dense", mjJAC_DENSE},
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{"sparse", mjJAC_SPARSE},
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{"auto", mjJAC_AUTO}
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{"dense", mjJAC_DENSE},
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{"sparse", mjJAC_SPARSE},
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{"auto", mjJAC_AUTO}
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};
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// solver type
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const int solver_sz = 3;
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const mjMap solver_map[solver_sz] = {
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{"PGS", mjSOL_PGS},
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{"CG", mjSOL_CG},
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{"Newton", mjSOL_NEWTON}
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{"PGS", mjSOL_PGS},
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{"CG", mjSOL_CG},
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{"Newton", mjSOL_NEWTON}
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};
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// constraint type
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const int equality_sz = 6;
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const mjMap equality_map[equality_sz] = {
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{"connect", mjEQ_CONNECT},
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{"weld", mjEQ_WELD},
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{"joint", mjEQ_JOINT},
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{"tendon", mjEQ_TENDON},
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{"flex", mjEQ_FLEX},
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{"distance", mjEQ_DISTANCE}
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{"connect", mjEQ_CONNECT},
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{"weld", mjEQ_WELD},
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{"joint", mjEQ_JOINT},
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{"tendon", mjEQ_TENDON},
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{"flex", mjEQ_FLEX},
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{"distance", mjEQ_DISTANCE}
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};
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// type for texture
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const int texture_sz = 3;
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const mjMap texture_map[texture_sz] = {
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{"2d", mjTEXTURE_2D},
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{"cube", mjTEXTURE_CUBE},
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{"skybox", mjTEXTURE_SKYBOX}
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{"2d", mjTEXTURE_2D},
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{"cube", mjTEXTURE_CUBE},
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{"skybox", mjTEXTURE_SKYBOX}
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};
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// colorspace for texture
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const int colorspace_sz = 3;
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const mjMap colorspace_map[colorspace_sz] = {
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{"auto", mjCOLORSPACE_AUTO},
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{"linear", mjCOLORSPACE_LINEAR},
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{"sRGB", mjCOLORSPACE_SRGB}
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{"auto", mjCOLORSPACE_AUTO},
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{"linear", mjCOLORSPACE_LINEAR},
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{"sRGB", mjCOLORSPACE_SRGB}
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};
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// builtin type for texture
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const int builtin_sz = 4;
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const mjMap builtin_map[builtin_sz] = {
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{"none", mjBUILTIN_NONE},
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{"gradient", mjBUILTIN_GRADIENT},
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{"checker", mjBUILTIN_CHECKER},
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{"flat", mjBUILTIN_FLAT}
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{"none", mjBUILTIN_NONE},
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{"gradient", mjBUILTIN_GRADIENT},
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{"checker", mjBUILTIN_CHECKER},
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{"flat", mjBUILTIN_FLAT}
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};
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// mark type for texture
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const int mark_sz = 4;
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const mjMap mark_map[mark_sz] = {
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{"none", mjMARK_NONE},
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{"edge", mjMARK_EDGE},
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{"cross", mjMARK_CROSS},
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{"random", mjMARK_RANDOM}
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{"none", mjMARK_NONE},
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{"edge", mjMARK_EDGE},
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{"cross", mjMARK_CROSS},
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{"random", mjMARK_RANDOM}
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};
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// dyn type
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const int dyn_sz = 6;
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const mjMap dyn_map[dyn_sz] = {
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{"none", mjDYN_NONE},
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{"integrator", mjDYN_INTEGRATOR},
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{"filter", mjDYN_FILTER},
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{"filterexact", mjDYN_FILTEREXACT},
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{"muscle", mjDYN_MUSCLE},
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{"user", mjDYN_USER}
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{"none", mjDYN_NONE},
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{"integrator", mjDYN_INTEGRATOR},
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{"filter", mjDYN_FILTER},
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{"filterexact", mjDYN_FILTEREXACT},
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{"muscle", mjDYN_MUSCLE},
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{"user", mjDYN_USER}
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};
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// gain type
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const int gain_sz = 4;
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const mjMap gain_map[gain_sz] = {
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{"fixed", mjGAIN_FIXED},
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{"affine", mjGAIN_AFFINE},
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{"muscle", mjGAIN_MUSCLE},
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{"user", mjGAIN_USER}
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{"fixed", mjGAIN_FIXED},
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{"affine", mjGAIN_AFFINE},
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{"muscle", mjGAIN_MUSCLE},
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{"user", mjGAIN_USER}
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};
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// bias type
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const int bias_sz = 4;
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const mjMap bias_map[bias_sz] = {
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{"none", mjBIAS_NONE},
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{"affine", mjBIAS_AFFINE},
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{"muscle", mjBIAS_MUSCLE},
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{"user", mjBIAS_USER}
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{"none", mjBIAS_NONE},
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{"affine", mjBIAS_AFFINE},
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{"muscle", mjBIAS_MUSCLE},
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{"user", mjBIAS_USER}
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};
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// stage type
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const int stage_sz = 4;
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const mjMap stage_map[stage_sz] = {
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{"none", mjSTAGE_NONE},
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{"pos", mjSTAGE_POS},
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{"vel", mjSTAGE_VEL},
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{"acc", mjSTAGE_ACC}
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{"none", mjSTAGE_NONE},
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{"pos", mjSTAGE_POS},
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{"vel", mjSTAGE_VEL},
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{"acc", mjSTAGE_ACC}
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};
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// data type
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const int datatype_sz = 4;
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const mjMap datatype_map[datatype_sz] = {
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{"real", mjDATATYPE_REAL},
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{"positive", mjDATATYPE_POSITIVE},
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{"axis", mjDATATYPE_AXIS},
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{"quaternion", mjDATATYPE_QUATERNION}
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{"real", mjDATATYPE_REAL},
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{"positive", mjDATATYPE_POSITIVE},
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{"axis", mjDATATYPE_AXIS},
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{"quaternion", mjDATATYPE_QUATERNION}
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};
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// contact data type
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const mjMap condata_map[mjNCONDATA] = {
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{"found", mjCONDATA_FOUND},
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{"force", mjCONDATA_FORCE},
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{"torque", mjCONDATA_TORQUE},
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{"dist", mjCONDATA_DIST},
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{"pos", mjCONDATA_POS},
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{"normal", mjCONDATA_NORMAL},
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{"tangent", mjCONDATA_TANGENT}
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{"found", mjCONDATA_FOUND},
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{"force", mjCONDATA_FORCE},
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{"torque", mjCONDATA_TORQUE},
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{"dist", mjCONDATA_DIST},
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{"pos", mjCONDATA_POS},
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{"normal", mjCONDATA_NORMAL},
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{"tangent", mjCONDATA_TANGENT}
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};
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// contact reduction type
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const int reduce_sz = 4;
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const mjMap reduce_map[reduce_sz] = {
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{"none", 0},
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{"mindist", 1},
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{"maxforce", 2},
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{"netforce", 3}
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{"none", 0},
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{"mindist", 1},
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{"maxforce", 2},
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{"netforce", 3}
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};
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// LR mode
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const int lrmode_sz = 4;
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const mjMap lrmode_map[lrmode_sz] = {
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{"none", mjLRMODE_NONE},
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{"muscle", mjLRMODE_MUSCLE},
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{"muscleuser", mjLRMODE_MUSCLEUSER},
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{"all", mjLRMODE_ALL}
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{"none", mjLRMODE_NONE},
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{"muscle", mjLRMODE_MUSCLE},
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{"muscleuser", mjLRMODE_MUSCLEUSER},
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{"all", mjLRMODE_ALL}
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};
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// composite type
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const mjMap comp_map[mjNCOMPTYPES] = {
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{"particle", mjCOMPTYPE_PARTICLE},
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{"grid", mjCOMPTYPE_GRID},
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{"rope", mjCOMPTYPE_ROPE},
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{"loop", mjCOMPTYPE_LOOP},
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{"cable", mjCOMPTYPE_CABLE},
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{"cloth", mjCOMPTYPE_CLOTH}
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{"particle", mjCOMPTYPE_PARTICLE},
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{"grid", mjCOMPTYPE_GRID},
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{"rope", mjCOMPTYPE_ROPE},
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{"loop", mjCOMPTYPE_LOOP},
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{"cable", mjCOMPTYPE_CABLE},
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{"cloth", mjCOMPTYPE_CLOTH}
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};
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// composite joint kind
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const mjMap jkind_map[1] = {
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{"main", mjCOMPKIND_JOINT}
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{"main", mjCOMPKIND_JOINT}
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};
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// composite rope shape
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const mjMap shape_map[mjNCOMPSHAPES] = {
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{"s", mjCOMPSHAPE_LINE},
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{"cos(s)", mjCOMPSHAPE_COS},
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{"sin(s)", mjCOMPSHAPE_SIN},
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{"0", mjCOMPSHAPE_ZERO}
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{"s", mjCOMPSHAPE_LINE},
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{"cos(s)", mjCOMPSHAPE_COS},
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{"sin(s)", mjCOMPSHAPE_SIN},
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{"0", mjCOMPSHAPE_ZERO}
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};
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// mesh type
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const mjMap meshtype_map[2] = {
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{"false", mjINERTIA_VOLUME},
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{"true", mjINERTIA_SHELL},
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{"false", mjINERTIA_VOLUME},
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{"true", mjINERTIA_SHELL},
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};
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// mesh inertia type
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const mjMap meshinertia_map[4] = {
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{"convex", mjMESH_INERTIA_CONVEX},
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{"legacy", mjMESH_INERTIA_LEGACY},
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{"exact", mjMESH_INERTIA_EXACT},
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{"shell", mjMESH_INERTIA_SHELL}
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{"convex", mjMESH_INERTIA_CONVEX},
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{"legacy", mjMESH_INERTIA_LEGACY},
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{"exact", mjMESH_INERTIA_EXACT},
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{"shell", mjMESH_INERTIA_SHELL}
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};
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// mesh builtin type
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const int meshbuiltin_sz = 7;
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const int meshbuiltin_sz = 8;
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const mjMap meshbuiltin_map[meshbuiltin_sz] = {
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{"none", mjMESH_BUILTIN_NONE},
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{"sphere", mjMESH_BUILTIN_SPHERE},
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{"hemisphere", mjMESH_BUILTIN_HEMISPHERE},
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{"cone", mjMESH_BUILTIN_CONE},
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{"supertorus", mjMESH_BUILTIN_SUPERTORUS},
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{"wedge", mjMESH_BUILTIN_WEDGE},
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{"plate", mjMESH_BUILTIN_PLATE}
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{"none", mjMESH_BUILTIN_NONE},
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{"sphere", mjMESH_BUILTIN_SPHERE},
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{"hemisphere", mjMESH_BUILTIN_HEMISPHERE},
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{"cone", mjMESH_BUILTIN_CONE},
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{"supertorus", mjMESH_BUILTIN_SUPERTORUS},
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{"supersphere", mjMESH_BUILTIN_SUPERSPHERE},
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{"wedge", mjMESH_BUILTIN_WEDGE},
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{"plate", mjMESH_BUILTIN_PLATE}
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};
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// flexcomp type
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const mjMap fcomp_map[mjNFCOMPTYPES] = {
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{"grid", mjFCOMPTYPE_GRID},
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{"box", mjFCOMPTYPE_BOX},
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{"cylinder", mjFCOMPTYPE_CYLINDER},
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{"ellipsoid", mjFCOMPTYPE_ELLIPSOID},
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{"square", mjFCOMPTYPE_SQUARE},
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{"disc", mjFCOMPTYPE_DISC},
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{"circle", mjFCOMPTYPE_CIRCLE},
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{"mesh", mjFCOMPTYPE_MESH},
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{"gmsh", mjFCOMPTYPE_GMSH},
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{"direct", mjFCOMPTYPE_DIRECT}
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{"grid", mjFCOMPTYPE_GRID},
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{"box", mjFCOMPTYPE_BOX},
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{"cylinder", mjFCOMPTYPE_CYLINDER},
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{"ellipsoid", mjFCOMPTYPE_ELLIPSOID},
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{"square", mjFCOMPTYPE_SQUARE},
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{"disc", mjFCOMPTYPE_DISC},
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{"circle", mjFCOMPTYPE_CIRCLE},
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{"mesh", mjFCOMPTYPE_MESH},
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{"gmsh", mjFCOMPTYPE_GMSH},
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{"direct", mjFCOMPTYPE_DIRECT}
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};
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// flexcomp dof type
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const mjMap fdof_map[mjNFCOMPDOFS] = {
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{"full", mjFCOMPDOF_FULL},
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{"radial", mjFCOMPDOF_RADIAL},
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{"trilinear", mjFCOMPDOF_TRILINEAR}
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{"full", mjFCOMPDOF_FULL},
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{"radial", mjFCOMPDOF_RADIAL},
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{"trilinear", mjFCOMPDOF_TRILINEAR}
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};
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// flex selfcollide type
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const mjMap flexself_map[5] = {
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{"none", mjFLEXSELF_NONE},
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{"narrow", mjFLEXSELF_NARROW},
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{"bvh", mjFLEXSELF_BVH},
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{"sap", mjFLEXSELF_SAP},
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{"auto", mjFLEXSELF_AUTO},
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{"none", mjFLEXSELF_NONE},
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{"narrow", mjFLEXSELF_NARROW},
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{"bvh", mjFLEXSELF_BVH},
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{"sap", mjFLEXSELF_SAP},
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{"auto", mjFLEXSELF_AUTO},
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};
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// flex elastic 2d type
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const mjMap elastic2d_map[5] = {
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{"none", 0},
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{"bend", 1},
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{"stretch", 2},
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{"both", 3},
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{"none", 0},
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{"bend", 1},
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{"stretch", 2},
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{"both", 3},
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};
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