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Replace flex_xvert0 with flex_vert0

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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
This commit is contained in:
Alessio Quaglino
2024-10-31 06:29:39 -07:00
committed by Copybara-Service
parent 26ccaeb78e
commit 94bbf297fc
7 changed files with 77 additions and 19 deletions
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include/mujoco/mjmodel.h
+1 -1
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@@ -877,7 +877,7 @@ struct mjModel_ {
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
int* flex_evpair; // (element, vertex) collision pairs (nflexevpair x 2)
mjtNum* flex_vert; // vertex positions in local body frames (nflexvert x 3)
mjtNum* flex_xvert0; // Cartesian vertex positions in qpos0 (nflexvert x 3)
mjtNum* flex_vert0; // vertex positions in qpos0 on [0, 1]^d (nflexvert x 3)
mjtNum* flexedge_length0; // edge lengths in qpos0 (nflexedge x 1)
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
include/mujoco/mjxmacro.h
+1 -1
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@@ -346,7 +346,7 @@
XMJV( int, flex_shell, nflexshelldata,1 ) \
X ( int, flex_evpair, nflexevpair, 2 ) \
X ( mjtNum, flex_vert, nflexvert, 3 ) \
X ( mjtNum, flex_xvert0, nflexvert, 3 ) \
X ( mjtNum, flex_vert0, nflexvert, 3 ) \
X ( mjtNum, flexedge_length0, nflexedge, 1 ) \
X ( mjtNum, flexedge_invweight0, nflexedge, 1 ) \
XMJV( mjtNum, flex_radius, nflex, 1 ) \