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Remove the Shell plugin and integrate it into the engine.

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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
This commit is contained in:
Alessio Quaglino
2025-05-19 10:50:27 -07:00
committed by Copybara-Service
parent 45fc15b844
commit 7edbdd0ad6
28 changed files with 90 additions and 291 deletions
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test/plugin/elasticity/elasticity_test.cc
+5 -10
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@@ -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>