Remove the Shell plugin and integrate it into the engine.
PiperOrigin-RevId: 760688502 Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
45fc15b844
commit
7edbdd0ad6
@@ -4073,9 +4073,9 @@ stress-strain relationship.. See also :ref:`deformable <CDeformable>` objects.
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.. _flex-elasticity-elastic2d:
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:at:`elastic2d`: :at-val:`int, "1"`
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Elastic contribution to passive forces of 2D flexes. 0: none, 1: bending only, 2: stretching only, 3: bending and
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stretching
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:at:`elastic2d`: :at-val:`[none, bend, stretch, both], "none"`
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Elastic contribution to passive forces of 2D flexes. "none": none, "bend": bending only, "stretch": stretching only,
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"both": bending and stretching.
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.. _flex-contact:
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@@ -9,6 +9,8 @@ General
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^^^^^^^
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- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the
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solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
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- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
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the :ref:`elastic2d<body-flexcomp-elasticity-elastic2d>` attribute (on by default).
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simulate
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^^^^^^^^
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@@ -31,7 +31,7 @@
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</body>
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<flexcomp type="mesh" file="bunny.obj" pos="0 0 .1" dim="2" euler="90 0 0"
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radius=".001" rgba="0 .7 .7 1" mass=".05" name="softbody" dof="trilinear">
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<elasticity young="1e3" poisson="0.1" damping="0.001"/>
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<elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="stretch"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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@@ -37,7 +37,7 @@
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</body>
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<flexcomp type="mesh" file="bunny_with_uv.obj" pos="0 0 .1" dim="2" euler="90 0 0"
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radius=".001" material="matsponge" mass=".05" name="softbody" dof="trilinear">
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<elasticity young="1e3" poisson="0.1" damping="0.001"/>
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<elasticity young="1e3" poisson="0.1" damping="0.001" elastic2d="stretch"/>
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<contact selfcollide="none" internal="false"/>
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</flexcomp>
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</worldbody>
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@@ -26,10 +26,6 @@
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<option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
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</option>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<worldbody>
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<geom name="floor" type="plane" size="0 0 .1"/>
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<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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@@ -37,8 +33,7 @@
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<flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
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name="flag" radius="0.001">
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<edge equality="true" damping="0.001"/>
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<elasticity poisson="0" thickness="1e-2" young="3e6"/>
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<plugin plugin="mujoco.elasticity.shell"/>
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<elasticity poisson="0" thickness="1e-2" young="3e6" elastic2d="none"/>
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</flexcomp>
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</body>
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</worldbody>
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@@ -16,10 +16,6 @@
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<mujoco model="Pancake">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<option timestep="0.001" solver="CG" tolerance="1e-6" integrator="implicitfast"/>
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<size memory="10M"/>
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@@ -39,7 +35,7 @@
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radius=".01" mass=".5" name="plate" dim="2">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<edge equality="true" damping="10"/>
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<elasticity poisson="0" thickness="8e-3" young="3e5"/>
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<elasticity poisson="0" thickness="8e-3" young="3e5" elastic2d="bend"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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@@ -16,10 +16,6 @@
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<mujoco model="Plate">
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<include file="scene.xml"/>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<option solver="CG" tolerance="1e-6" integrator="implicitfast"/>
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<size memory="10M"/>
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@@ -42,8 +38,7 @@
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radius=".001" mass="100" name="plate">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<edge equality="true" damping="0.001"/>
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<elasticity poisson="0" thickness="1e-2" young="3e7"/>
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<plugin plugin="mujoco.elasticity.shell"/>
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<elasticity poisson="0" thickness="1e-2" young="3e7" elastic2d="bend"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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@@ -19,10 +19,6 @@
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<flag energy="enable"/>
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</option>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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@@ -1418,9 +1414,8 @@
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398 399 418
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398 376 378">
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<edge equality="true" damping="0.1"/>
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<elasticity young="3e5" poisson="0" thickness="8e-3"/>
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<elasticity young="3e5" poisson="0" thickness="8e-3" elastic2d="bend"/>
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<contact solref="0.003"/>
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<plugin plugin="mujoco.elasticity.shell"/>
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</flexcomp>
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</worldbody>
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@@ -19,10 +19,6 @@
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<flag energy="enable"/>
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</option>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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@@ -1418,9 +1414,8 @@
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398 399 418
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398 376 378">
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<edge equality="true" damping="0.1"/>
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<elasticity poisson="0.3" young="3e5" thickness="8e-3"/>
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<elasticity poisson="0.3" young="3e5" thickness="8e-3" elastic2d="bend"/>
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<contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
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<plugin plugin="mujoco.elasticity.shell"/>
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</flexcomp>
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</worldbody>
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@@ -39,7 +39,7 @@
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radius=".001" mass="10" name="plate" dim="2">
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<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<edge equality="false" damping="10"/>
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<elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="2"/>
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<elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="stretch"/>
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<pin id="0 15 240 255"/>
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</flexcomp>
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</worldbody>
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@@ -22,8 +22,6 @@ set(MUJOCO_ELASTICITY_SRCS
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elasticity.cc
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elasticity.h
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register.cc
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shell.cc
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shell.h
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)
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add_library(elasticity SHARED)
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@@ -18,15 +18,3 @@ Parameters:
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- `bend` [Pa]: bending stiffness.
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- `flat` [bool]: if true, the stress-equilibrium configuration is that of a straight cable; if false or unspecified, it is the configuration defined in the XML.
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- `vmax` [N/m^2]: If greater than zero, the cable is colored using mechanical stresses; the value represent the maximum stress in the color scale.
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### Shell
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Implemented in [shell.cc](shell.cc).
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The shell plugin discretizes an inextensible 2D continuum. It is intended to simulate the bending of plates where the stretching is negligible compared to other deformation modes.
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Parameters:
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- `young` [Pa]: Young's modulus.
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- `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
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- `thickness` [m]: shell thickness, used to scale the bending stiffness.
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@@ -14,13 +14,11 @@
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#include <mujoco/mjplugin.h>
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#include "cable.h"
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#include "shell.h"
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namespace mujoco::plugin::elasticity {
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mjPLUGIN_LIB_INIT {
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Cable::RegisterPlugin();
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Shell::RegisterPlugin();
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}
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} // namespace mujoco::plugin::elasticity
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@@ -1,154 +0,0 @@
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <cassert>
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#include <cmath>
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#include <cstdint>
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#include <cstdlib>
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#include <optional>
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#include <utility>
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#include <vector>
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#include <mujoco/mjplugin.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mujoco.h>
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#include "elasticity.h"
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#include "shell.h"
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namespace mujoco::plugin::elasticity {
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namespace {
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// local tetrahedron numbering
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constexpr int kNumVerts = Stencil2D::kNumVerts;
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} // namespace
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// factory function
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std::optional<Shell> Shell::Create(const mjModel* m, mjData* d, int instance) {
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return Shell(m, d, instance);
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}
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// plugin constructor
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Shell::Shell(const mjModel* m, mjData* d, int instance)
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: f0(-1) {
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// count plugin bodies
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nv = 0;
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for (int i = 1; i < m->nbody; i++) {
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if (m->body_plugin[i] == instance) {
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if (!nv++) {
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i0 = i;
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}
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}
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}
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// count flexes
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for (int i = 0; i < m->nflex; i++) {
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for (int j = 0; j < m->flex_vertnum[i]; j++) {
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if (m->flex_vertbodyid[m->flex_vertadr[i]+j] == i0) {
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f0 = i;
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nv = m->flex_vertnum[f0];
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if (m->flex_dim[i] != 2) { // SHOULD NOT OCCUR
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mju_error("mujoco.elasticity.shell requires a 2D mesh");
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}
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}
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}
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}
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// loop over all triangles
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for (int t = 0; t < m->flex_elemnum[f0]; t++) {
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int* v = m->flex_elem + 3*(t+m->flex_elemadr[f0]);
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for (int i = 0; i < kNumVerts; i++) {
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if (m->body_plugin[i0+v[i]] != instance) {
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mju_error("This body does not have the requested plugin instance");
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}
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}
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}
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// allocate array
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position.assign(nv*3, 0);
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// store previous positions
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mju_copy(position.data(), m->body_pos+3*i0, 3*nv);
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}
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void Shell::Compute(const mjModel* m, mjData* d, int instance) {
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for (int e = 0; e < m->flex_edgenum[f0]; e++) {
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int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f0]);
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int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f0]);
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int v[4] = {edge[0], edge[1], flap[0], flap[1]};
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mjtNum force[12] = {0};
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if (v[3] == -1) {
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// skip boundary edges
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continue;
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}
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mjtNum* k = m->flex_bending + 16*m->flex_edgeadr[f0];
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for (int i = 0; i < StencilFlap::kNumVerts; i++) {
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for (int j = 0; j < StencilFlap::kNumVerts; j++) {
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for (int x = 0; x < 3; x++) {
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force[3*i+x] += k[16*e+4*i+j] * d->xpos[3*(i0+v[j])+x];
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}
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}
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}
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// update stored positions
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mju_copy(position.data(), d->xpos+3*i0, 3*nv);
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// insert into global force
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for (int i = 0; i < StencilFlap::kNumVerts; i++) {
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for (int x = 0; x < 3; x++) {
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d->qfrc_passive[m->body_dofadr[i0]+3*v[i]+x] -= force[3*i+x];
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}
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}
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}
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}
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void Shell::RegisterPlugin() {
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mjpPlugin plugin;
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mjp_defaultPlugin(&plugin);
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plugin.name = "mujoco.elasticity.shell";
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plugin.capabilityflags |= mjPLUGIN_PASSIVE;
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const char* attributes[] = {"damping"};
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plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
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plugin.attributes = attributes;
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plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
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plugin.init = +[](const mjModel* m, mjData* d, int instance) {
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auto elasticity_or_null = Shell::Create(m, d, instance);
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if (!elasticity_or_null.has_value()) {
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return -1;
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}
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d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
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new Shell(std::move(*elasticity_or_null)));
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return 0;
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};
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plugin.destroy = +[](mjData* d, int instance) {
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delete reinterpret_cast<Shell*>(d->plugin_data[instance]);
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d->plugin_data[instance] = 0;
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};
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plugin.compute = +[](const mjModel* m, mjData* d, int instance, int type) {
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auto* elasticity = reinterpret_cast<Shell*>(d->plugin_data[instance]);
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elasticity->Compute(m, d, instance);
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};
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mjp_registerPlugin(&plugin);
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}
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} // namespace mujoco::plugin::elasticity
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@@ -1,61 +0,0 @@
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// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
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#define MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#include "elasticity.h"
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namespace mujoco::plugin::elasticity {
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struct StencilFlap {
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static constexpr int kNumVerts = 4;
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int vertices[kNumVerts];
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};
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class Shell {
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public:
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// Returns a new Shell instance or nullopt on failure.
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static std::optional<Shell> Create(const mjModel* m, mjData* d,
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int instance);
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Shell(Shell&&) = default;
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Shell& operator=(Shell&& other) = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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static void RegisterPlugin();
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int i0; // index of first body
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int f0; // index of corresponding flex
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int nc; // number of quads in the grid
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int nv; // number of vertices (bodies) in the Shell
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// precomputed quantities
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std::vector<mjtNum> position; // previous-step positions (nv x 3)
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private:
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Shell(const mjModel* m, mjData* d, int instance);
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};
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
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@@ -116,9 +116,50 @@ static void mj_springdamper(const mjModel* m, mjData* d) {
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// flex elasticity
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for (int f=0; f < m->nflex; f++) {
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mjtNum* k = m->flex_stiffness + 21*m->flex_elemadr[f];
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mjtNum* b = m->flex_bending + 16*m->flex_edgeadr[f];
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int dim = m->flex_dim[f];
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if (dim == 1 || m->flex_rigid[f] || k[0] == 0) {
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if (dim == 1 || m->flex_rigid[f]) {
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continue;
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}
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// add bending forces to qfrc_spring
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if (dim == 2) {
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mjtNum* xpos = d->flexvert_xpos + 3*m->flex_vertadr[f];
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int* bodyid = m->flex_vertbodyid + m->flex_vertadr[f];
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for (int e = 0; e < m->flex_edgenum[f]; e++) {
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const int* edge = m->flex_edge + 2*(e+m->flex_edgeadr[f]);
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const int* flap = m->flex_edgeflap + 2*(e+m->flex_edgeadr[f]);
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int v[4] = {edge[0], edge[1], flap[0], flap[1]};
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if (v[3] == -1) {
|
||||
// skip boundary edges
|
||||
continue;
|
||||
}
|
||||
mjtNum force[12] = {0};
|
||||
for (int i = 0; i < 4; i++) {
|
||||
for (int j = 0; j < 4; j++) {
|
||||
for (int x = 0; x < 3; x++) {
|
||||
force[3*i+x] += b[16*e+4*i+j] * xpos[3*v[j]+x];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: add damping
|
||||
|
||||
// insert into global force
|
||||
for (int i = 0; i < 4; i++) {
|
||||
int bid = bodyid[v[i]];
|
||||
int body_dofnum = m->body_dofnum[bid];
|
||||
int body_dofadr = m->body_dofadr[bid];
|
||||
for (int x = 0; x < body_dofnum; x++) {
|
||||
d->qfrc_spring[body_dofadr+x] -= force[3*i+x];
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (k[0] == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
@@ -238,7 +238,6 @@ void mjs_defaultFlex(mjsFlex* flex) {
|
||||
flex->rgba[0] = flex->rgba[1] = flex->rgba[2] = 0.5f;
|
||||
flex->rgba[3] = 1.0f;
|
||||
flex->thickness = -1;
|
||||
flex->elastic2d = 1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
+12
-5
@@ -3382,9 +3382,13 @@ void mjCFlex::ResolveReferences(const mjCModel* m) {
|
||||
vertbodyid.clear();
|
||||
nodebodyid.clear();
|
||||
for (const auto& vertbody : vertbody_) {
|
||||
mjCBase* pbody = m->FindObject(mjOBJ_BODY, vertbody);
|
||||
mjCBody* pbody = static_cast<mjCBody*>(m->FindObject(mjOBJ_BODY, vertbody));
|
||||
if (pbody) {
|
||||
vertbodyid.push_back(pbody->id);
|
||||
if (pbody->joints.size() != 3 && dim == 2 && (elastic2d == 1 || elastic2d == 3)) {
|
||||
// TODO(quaglino): add support for pins
|
||||
throw mjCError(this, "pins are not supported for bending");
|
||||
}
|
||||
} else {
|
||||
throw mjCError(this, "unknown body '%s' in flex", vertbody.c_str());
|
||||
}
|
||||
@@ -3658,7 +3662,10 @@ void mjCFlex::Compile(const mjVFS* vfs) {
|
||||
}
|
||||
|
||||
// bending stiffness (2D only)
|
||||
if (dim == 2 && (elastic2d == 1 || elastic2d == 3) && thickness > 0) {
|
||||
if (dim == 2 && (elastic2d == 1 || elastic2d == 3)) {
|
||||
if (thickness < 0) {
|
||||
throw mjCError(this, "thickness must be positive for bending stiffness");
|
||||
}
|
||||
bending.assign(nedge*16, 0);
|
||||
|
||||
for (unsigned int e = 0; e < nedge; e++) {
|
||||
@@ -3668,7 +3675,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
|
||||
}
|
||||
}
|
||||
|
||||
// add plugins
|
||||
// placeholder for setting plugins parameters, currently not used
|
||||
for (const auto& vbodyid : vertbodyid) {
|
||||
if (vbodyid < 0) {
|
||||
continue;
|
||||
@@ -3676,8 +3683,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
|
||||
if (model->Bodies()[vbodyid]->plugin.element) {
|
||||
mjCPlugin* plugin_instance =
|
||||
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.element);
|
||||
if (damping > 0) {
|
||||
plugin_instance->config_attribs["damping"] = std::to_string(damping);
|
||||
if (!plugin_instance) {
|
||||
throw mjCError(this, "plugin instance not found");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3165,7 +3165,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
for (int k=0; k < pfl->nedge; k++) {
|
||||
m->flex_edge[2*(edge_adr+k)] = pfl->edge[k].first;
|
||||
m->flex_edge[2*(edge_adr+k)+1] = pfl->edge[k].second;
|
||||
if (pfl->dim == 2) {
|
||||
if (pfl->dim == 2 && (pfl->elastic2d == 1 || pfl->elastic2d == 3)) {
|
||||
m->flex_edgeflap[2*(edge_adr+k)+0] = pfl->flaps[k].vertices[2];
|
||||
m->flex_edgeflap[2*(edge_adr+k)+1] = pfl->flaps[k].vertices[3];
|
||||
} else {
|
||||
|
||||
@@ -71,6 +71,7 @@ extern const mjMap datatype_map[];
|
||||
extern const mjMap meshtype_map[];
|
||||
extern const mjMap meshinertia_map[];
|
||||
extern const mjMap flexself_map[];
|
||||
extern const mjMap elastic2d_map[];
|
||||
|
||||
|
||||
//---------------------------------- Base XML class ------------------------------------------------
|
||||
|
||||
@@ -807,6 +807,15 @@ const mjMap flexself_map[5] = {
|
||||
};
|
||||
|
||||
|
||||
// flex elastic 2d type
|
||||
const mjMap elastic2d_map[5] = {
|
||||
{"none", 0},
|
||||
{"bend", 1},
|
||||
{"stretch", 2},
|
||||
{"both", 3},
|
||||
};
|
||||
|
||||
|
||||
|
||||
//---------------------------------- class mjXReader implementation --------------------------------
|
||||
|
||||
@@ -1401,7 +1410,7 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
|
||||
ReadAttr(elasticity, "poisson", 1, &flex->poisson, text);
|
||||
ReadAttr(elasticity, "thickness", 1, &flex->thickness, text);
|
||||
ReadAttr(elasticity, "damping", 1, &flex->damping, text);
|
||||
ReadAttr(elasticity, "elastic2d", 1, &flex->elastic2d, text);
|
||||
MapValue(elasticity, "elastic2d", &flex->elastic2d, elastic2d_map, 4);
|
||||
}
|
||||
|
||||
// write error info
|
||||
@@ -2665,7 +2674,7 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
|
||||
ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
|
||||
ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
|
||||
ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
|
||||
ReadAttr(elasticity, "elastic2d", 1, &dflex.elastic2d, text);
|
||||
MapValue(elasticity, "elastic2d", &dflex.elastic2d, elastic2d_map, 4);
|
||||
}
|
||||
|
||||
// check errors
|
||||
|
||||
@@ -194,7 +194,7 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
|
||||
WriteAttr(elastic, "poisson", 1, &flex->poisson, &defflex.poisson);
|
||||
WriteAttr(elastic, "thickness", 1, &flex->thickness, &defflex.thickness);
|
||||
WriteAttr(elastic, "damping", 1, &flex->damping, &defflex.damping);
|
||||
WriteAttr(elastic, "elastic2d", 1, &flex->elastic2d, &defflex.elastic2d);
|
||||
WriteAttrKey(elastic, "elastic2d", elastic2d_map, 2, flex->elastic2d, defflex.elastic2d);
|
||||
|
||||
// edge subelement
|
||||
XMLElement* edge = InsertEnd(elem, "edge");
|
||||
|
||||
@@ -343,7 +343,7 @@ void ABSL_ATTRIBUTE_NOINLINE mulMatVecSparse_8(mjtNum* res,
|
||||
// ----------------------------- benchmark ------------------------------------
|
||||
|
||||
static void BM_MatVecSparse(benchmark::State& state, int unroll) {
|
||||
static mjModel* m = LoadModelFromPath("plugin/elasticity/flag_flex.xml");
|
||||
static mjModel* m = LoadModelFromPath("flex/flag.xml");
|
||||
mjData* d = mj_makeData(m);
|
||||
|
||||
// warm-up rollout to get a typical state
|
||||
|
||||
@@ -73,7 +73,7 @@ static void run_parse_benchmark(const std::string xml_path,
|
||||
// run_parse_benchmark).
|
||||
|
||||
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseFlagPlugin(benchmark::State& state) {
|
||||
run_parse_benchmark(GetModelPath("plugin/elasticity/flag_flex.xml"), state);
|
||||
run_parse_benchmark(GetModelPath("flex/flag.xml"), state);
|
||||
}
|
||||
BENCHMARK(BM_ParseFlagPlugin);
|
||||
|
||||
|
||||
@@ -73,7 +73,7 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
|
||||
|
||||
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlagPlugin(benchmark::State& state) {
|
||||
MujocoErrorTestGuard guard;
|
||||
static mjModel* model = LoadModelFromPath("plugin/elasticity/flag_flex.xml");
|
||||
static mjModel* model = LoadModelFromPath("flex/flag.xml");
|
||||
run_step_benchmark(model, state);
|
||||
}
|
||||
BENCHMARK(BM_StepFlagPlugin);
|
||||
|
||||
@@ -37,7 +37,7 @@ using ::testing::DoubleNear;
|
||||
using ::testing::HasSubstr;
|
||||
using ::testing::NotNull;
|
||||
|
||||
constexpr int kNumTruePlugins = 11;
|
||||
constexpr int kNumTruePlugins = 10;
|
||||
constexpr int kNumFakePlugins = 30;
|
||||
constexpr int kNumTestPlugins = 4;
|
||||
|
||||
|
||||
@@ -22,7 +22,6 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "test/fixture.h"
|
||||
#include "plugin/elasticity/shell.h"
|
||||
|
||||
namespace mujoco {
|
||||
namespace {
|
||||
@@ -58,15 +57,10 @@ TEST_F(ElasticityTest, FlexCompatibility) {
|
||||
TEST_F(ElasticityTest, ElasticEnergyShell) {
|
||||
static constexpr char cantilever_xml[] = R"(
|
||||
<mujoco>
|
||||
<extension>
|
||||
<plugin plugin="mujoco.elasticity.shell"/>
|
||||
</extension>
|
||||
|
||||
<worldbody>
|
||||
<flexcomp type="grid" count="8 8 1" spacing="1 1 1"
|
||||
radius=".025" name="test" dim="2">
|
||||
<elasticity young="2" poisson="0" thickness="1"/>
|
||||
<plugin plugin="mujoco.elasticity.shell"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -76,7 +70,8 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
|
||||
mjModel* m = LoadModelFromString(cantilever_xml, error, sizeof(error));
|
||||
ASSERT_THAT(m, testing::NotNull()) << error;
|
||||
mjData* d = mj_makeData(m);
|
||||
auto* shell = reinterpret_cast<plugin::elasticity::Shell*>(d->plugin_data[0]);
|
||||
mj_kinematics(m, d);
|
||||
mj_flex(m, d);
|
||||
|
||||
// check that a plane is in the kernel of the energy
|
||||
for (mjtNum scale = 1; scale < 4; scale++) {
|
||||
@@ -92,8 +87,8 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
|
||||
for (int i = 0; i < 4; i++) {
|
||||
for (int j = 0; j < 4; j++) {
|
||||
for (int x = 0; x < 3; x++) {
|
||||
mjtNum elongation1 = scale * shell->position[3*v[i]+x];
|
||||
mjtNum elongation2 = scale * shell->position[3*v[j]+x];
|
||||
mjtNum elongation1 = scale * d->flexvert_xpos[3*v[i]+x];
|
||||
mjtNum elongation2 = scale * d->flexvert_xpos[3*v[j]+x];
|
||||
energy += m->flex_bending[16*e+4*i+j] * elongation1 * elongation2;
|
||||
}
|
||||
}
|
||||
@@ -114,7 +109,7 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
|
||||
<worldbody>
|
||||
<flexcomp type="grid" count="8 8 1" spacing="1 1 1"
|
||||
radius=".025" name="test" dim="2">
|
||||
<elasticity young="2" poisson="0" thickness="1" elastic2d="2"/>
|
||||
<elasticity young="2" poisson="0" thickness="1" elastic2d="stretch"/>
|
||||
<edge equality="false"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
|
||||
Reference in New Issue
Block a user