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Add mjmMesh to C API.

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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
This commit is contained in:
Alessio Quaglino
2024-02-13 09:08:55 -08:00
committed by Copybara-Service
parent 06505f49f9
commit 9ecd700923
11 changed files with 234 additions and 200 deletions
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src/user/user_objects.h
+36 -38
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@@ -615,26 +615,36 @@ class mjCFlex: public mjCBase, private mjmFlex {
//------------------------- class mjCMesh ----------------------------------------------------------
// Describes a mesh
class mjCMesh: public mjCBase {
class mjCMesh: public mjCBase, private mjmMesh {
friend class mjCFlexcomp;
friend class mjXWriter;
public:
mjCMesh(mjCModel* = 0, mjCDef* = 0);
~mjCMesh();
// public getters
const std::string& content_type() const { return content_type_; }
const std::string& file() const { return file_; }
mjmMesh spec;
using mjCBase::name;
using mjCBase::classname;
using mjCBase::plugin;
using mjCBase::info;
void CopyFromSpec(void);
void PointToLocal(void);
// public getters and setters
const std::string& get_content_type() const { return content_type_; }
const std::string& get_file() const { return file_; }
const double* refpos() const { return refpos_; }
const double* refquat() const { return refquat_; }
const double* scale() const { return scale_; }
bool smoothnormal() const { return smoothnormal_; }
const double* get_refpos() const { return refpos; }
const double* get_refquat() const { return refquat; }
const double* get_scale() const { return scale; }
bool get_smoothnormal() const { return smoothnormal; }
void set_needhull(bool needhull);
// public getters for user data
const std::vector<float>& uservert() const { return uservert_; }
const std::vector<float>& usernormal() const { return usernormal_; }
const std::vector<float>& usertexcoord() const { return usertexcoord_; }
const std::vector<int>& userface() const { return userface_; }
const std::vector<float>& get_uservert() const { return uservert_; }
const std::vector<float>& get_usernormal() const { return usernormal_; }
const std::vector<float>& get_usertexcoord() const { return usertexcoord_; }
const std::vector<int>& get_userface() const { return userface_; }
// mesh properties computed by Compile
const double* aamm() const { return aamm_; }
@@ -651,24 +661,6 @@ class mjCMesh: public mjCBase {
// bounding volume hierarchy tree
const mjCBoundingVolumeHierarchy& tree() { return tree_; }
// general setters
void set_file(const std::string& file);
void set_scale(std::array<double, 3> scale);
void set_smoothnormal(bool smoothnormal);
void set_needhull(bool needhull);
// setters used in reading XML attributes (no-op if empty optional)
void set_content_type(std::optional<std::string>&& content_type);
void set_file(std::optional<std::string>&& file);
void set_refpos(std::optional<std::array<double, 3>> refpos);
void set_refquat(std::optional<std::array<double, 4>> refquat);
void set_scale(std::optional<std::array<double, 3>> scale);
void set_uservert(std::optional<std::vector<float>>&& uservert);
void set_usernormal(std::optional<std::vector<float>>&& usernormal);
void set_usertexcoord(std::optional<std::vector<float>>&& usertexcoord);
void set_userface(std::optional<std::vector<int>>&& userface);
void Compile(const mjVFS* vfs); // compiler
double* GetPosPtr(mjtGeomInertia type); // get position
double* GetQuatPtr(mjtGeomInertia type); // get orientation
@@ -694,19 +686,25 @@ class mjCMesh: public mjCBase {
void SetBoundingVolume(int faceid);
private:
bool visual_; // true: the mesh is only visual
std::string content_type_; // content type of file
std::string file_; // mesh file
double refpos_[3]; // reference position (translate)
double refquat_[4]; // reference orientation (rotate)
double scale_[3]; // rescale mesh
bool smoothnormal_; // do not exclude large-angle faces from normals
// variable size attributes
std::string content_type_; // content type of file
std::string file_; // mesh file
std::vector<float> uservert_; // user vertex data
std::vector<float> usernormal_; // user normal data
std::vector<float> usertexcoord_; // user texcoord data
std::vector<int> userface_; // user vertex indices
std::vector<int> userfacenormal_; // user normal indices
std::string spec_content_type_;
std::string spec_file_;
std::vector<float> spec_uservert_;
std::vector<float> spec_usernormal_;
std::vector<float> spec_usertexcoord_;
std::vector<int> spec_userface_;
std::vector<int> spec_userfacenormal_;
// used by the compiler
bool visual_; // true: the mesh is only visual
std::vector<int> userfacetexcoord_; // user texcoord indices
std::vector< std::pair<int, int> > useredge_; // user half-edge data