chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Replace flex_xvert0 with flex_vert0

Browse Source 
`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
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_flex_test.cc
+59 -12
View File
@@ -242,6 +242,45 @@ TEST_F(UserFlexTest, RigidFlex) {
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, BoundingBoxCoordinates) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" pos="1 0 -1" type="grid"
count="5 5 5" spacing="1 1 1" dim="3"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_kinematics(m, d);
mj_flex(m, d);
EXPECT_EQ(m->nflexvert, 5*5*5);
EXPECT_EQ(m->nflexelem, 4*4*4*6);
EXPECT_EQ(m->flex_dim[0], 3);
// Cartesian coordinates
EXPECT_EQ(d->flexvert_xpos[0], -1);
EXPECT_EQ(d->flexvert_xpos[1], -2);
EXPECT_EQ(d->flexvert_xpos[2], -3);
EXPECT_EQ(d->flexvert_xpos[3*m->nflexvert-3], 3);
EXPECT_EQ(d->flexvert_xpos[3*m->nflexvert-2], 2);
EXPECT_EQ(d->flexvert_xpos[3*m->nflexvert-1], 1);
// bounding box coordinates
EXPECT_EQ(m->flex_vert0[0], 0);
EXPECT_EQ(m->flex_vert0[1], 0);
EXPECT_EQ(m->flex_vert0[2], 0);
EXPECT_EQ(m->flex_vert0[3*m->nflexvert-3], 1);
EXPECT_EQ(m->flex_vert0[3*m->nflexvert-2], 1);
EXPECT_EQ(m->flex_vert0[3*m->nflexvert-1], 1);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinary_41_Success) {
const std::string xml_path =
@@ -280,14 +319,16 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinary_41_Success) {
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_kinematics(m, d);
mj_flex(m, d);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
EXPECT_EQ(m->flex_xvert0[2], 0 );
EXPECT_EQ(d->flexvert_xpos[0], -0.5 );
EXPECT_EQ(d->flexvert_xpos[1], -0.5 );
EXPECT_EQ(d->flexvert_xpos[2], 0 );
// first element
EXPECT_EQ(m->flex_elem[0], 9-1 );
@@ -306,14 +347,16 @@ TEST_F(UserFlexTest, LoadMSHSurfaceBinary_22_Success) {
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_kinematics(m, d);
mj_flex(m, d);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
EXPECT_EQ(m->flex_xvert0[2], 0 );
EXPECT_EQ(d->flexvert_xpos[0], -0.5 );
EXPECT_EQ(d->flexvert_xpos[1], -0.5 );
EXPECT_EQ(d->flexvert_xpos[2], 0 );
// first element
EXPECT_EQ(m->flex_elem[0], 9-1 );
@@ -377,14 +420,16 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCII_41_Success) {
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_kinematics(m, d);
mj_flex(m, d);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
EXPECT_EQ(m->flex_xvert0[2], 0 );
EXPECT_EQ(d->flexvert_xpos[0], -0.5 );
EXPECT_EQ(d->flexvert_xpos[1], -0.5 );
EXPECT_EQ(d->flexvert_xpos[2], 0 );
// first element
EXPECT_EQ(m->flex_elem[0], 9-1 );
@@ -403,14 +448,16 @@ TEST_F(UserFlexTest, LoadMSHSurfaceASCII_22_Success) {
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_kinematics(m, d);
mj_flex(m, d);
EXPECT_EQ(m->nflexvert, 14);
EXPECT_EQ(m->nflexelem, 24);
EXPECT_EQ(m->flex_dim[0], 2);
// first node x y z
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
EXPECT_EQ(m->flex_xvert0[2], 0 );
EXPECT_EQ(d->flexvert_xpos[0], -0.5 );
EXPECT_EQ(d->flexvert_xpos[1], -0.5 );
EXPECT_EQ(d->flexvert_xpos[2], 0 );
// first element
EXPECT_EQ(m->flex_elem[0], 9-1 );