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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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src/engine/engine_setconst.c
+12 -1
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@@ -118,8 +118,19 @@ static void set0(mjModel* m, mjData* d) {
m->light_mode[i] = lightmode[i];
}
// compute bounding box coordinates
for (int i=0; i < m->nflex; i++) {
int bvhadr = m->flex_bvhadr[i];
const mjtNum* bvh = d->bvh_aabb_dyn + 6*(bvhadr - m->nbvhstatic);
for (int j=0; j < m->nflexvert; j++) {
for (int k=0; k < 3; k++) {
mjtNum size = 2*(bvh[3+k] - m->flex_radius[i]);
m->flex_vert0[3*j+k] = (d->flexvert_xpos[3*j+k] - bvh[k]) / size + 0.5;
}
}
}
// copy fields
mju_copy(m->flex_xvert0, d->flexvert_xpos, 3*m->nflexvert);
mju_copy(m->flexedge_length0, d->flexedge_length, m->nflexedge);
mju_copy(m->tendon_length0, d->ten_length, m->ntendon);
mju_copy(m->actuator_length0, d->actuator_length, m->nu);