Renamed Elasticity to Cable and libcable to libelasticity for consistency.
PiperOrigin-RevId: 485642970 Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
c83be2bc05
commit
9833f912c1
@@ -150,12 +150,12 @@ jobs:
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if: ${{ runner.os != 'Windows' }}
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working-directory: build
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run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
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cp lib/libcable.* ${{ matrix.tmpdir }}/mujoco_install/plugin
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cp lib/libelasticity.* ${{ matrix.tmpdir }}/mujoco_install/plugin
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- name: Copy plugins (Windows)
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if: ${{ runner.os == 'Windows' }}
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working-directory: build
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run: mkdir -p ${{ matrix.tmpdir }}/mujoco_install/plugin &&
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cp bin/Release/cable.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
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cp bin/Release/elasticity.dll ${{ matrix.tmpdir }}/mujoco_install/plugin
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- name: Configure samples
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working-directory: sample
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run: >
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@@ -29,6 +29,7 @@ General
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- Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
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- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
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See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
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- Renamed the cable plugin library to elasticity.
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Version 2.3.0 (October 18, 2022)
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--------------------------------
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@@ -22,19 +22,19 @@ set(MUJOCO_ELASTICITY_SRCS
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cable.h
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)
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add_library(cable SHARED)
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target_sources(cable PRIVATE ${MUJOCO_ELASTICITY_SRCS})
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target_include_directories(cable PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
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target_link_libraries(cable PRIVATE mujoco)
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add_library(elasticity SHARED)
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target_sources(elasticity PRIVATE ${MUJOCO_ELASTICITY_SRCS})
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target_include_directories(elasticity PRIVATE ${MUJOCO_ELASTICITY_INCLUDE})
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target_link_libraries(elasticity PRIVATE mujoco)
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target_compile_options(
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cable
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elasticity
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PRIVATE ${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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)
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target_link_options(
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cable
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elasticity
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PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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@@ -89,10 +89,10 @@ bool CheckAttr(const char* name, const mjModel* m, int instance) {
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// factory function
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std::optional<Elasticity> Elasticity::Create(
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std::optional<Cable> Cable::Create(
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const mjModel* m, mjData* d, int instance) {
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if (CheckAttr("twist", m, instance) && CheckAttr("bend", m, instance)) {
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return Elasticity(m, d, instance);
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return Cable(m, d, instance);
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} else {
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mju_warning("Invalid parameter specification in cable plugin");
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return std::nullopt;
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@@ -100,7 +100,7 @@ std::optional<Elasticity> Elasticity::Create(
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}
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// plugin constructor
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Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
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Cable::Cable(const mjModel* m, mjData* d, int instance) {
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// parameters were validated by the factor function
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std::string flat = mj_getPluginConfig(m, instance, "flat");
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mjtNum G = strtod(mj_getPluginConfig(m, instance, "twist"), nullptr);
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@@ -173,7 +173,7 @@ Elasticity::Elasticity(const mjModel* m, mjData* d, int instance) {
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}
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}
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void Elasticity::Compute(const mjModel* m, mjData* d, int instance) {
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void Cable::Compute(const mjModel* m, mjData* d, int instance) {
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for (int b = 0; b < n; b++) {
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// index into body array
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int i = i0 + b;
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@@ -234,20 +234,20 @@ mjPLUGIN_DYNAMIC_LIBRARY_INIT {
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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 = Elasticity::Create(m, d, instance);
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auto elasticity_or_null = Cable::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 Elasticity(std::move(*elasticity_or_null)));
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new Cable(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<Elasticity*>(d->plugin_data[instance]);
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delete reinterpret_cast<Cable*>(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<Elasticity*>(d->plugin_data[instance]);
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auto* elasticity = reinterpret_cast<Cable*>(d->plugin_data[instance]);
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elasticity->Compute(m, d, instance);
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};
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@@ -25,14 +25,14 @@
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namespace mujoco::plugin::elasticity {
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class Elasticity {
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class Cable {
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public:
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// Creates a new Elasticity instance (allocated with `new`) or
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// Creates a new Cable instance (allocated with `new`) or
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// returns null on failure.
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static std::optional<Elasticity> Create(const mjModel* m, mjData* d,
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static std::optional<Cable> Create(const mjModel* m, mjData* d,
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int instance);
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Elasticity(Elasticity&&) = default;
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~Elasticity() = default;
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Cable(Cable&&) = default;
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~Cable() = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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@@ -44,7 +44,7 @@ class Elasticity {
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std::vector<mjtNum> omega0; // reference curvature (n x 3)
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private:
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Elasticity(const mjModel* m, mjData* d, int instance);
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Cable(const mjModel* m, mjData* d, int instance);
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};
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} // namespace mujoco::plugin::elasticity
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@@ -12,6 +12,6 @@
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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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mujoco_test(cable_test)
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target_link_libraries(cable_test fixture gmock cable)
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mujoco_test(elasticity_test)
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target_link_libraries(elasticity_test fixture gmock elasticity)
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