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Add mjmBody and mjmPlugin and their compiler C APIs.

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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
This commit is contained in:
Alessio Quaglino
2024-02-07 04:16:20 -08:00
committed by Copybara-Service
parent b9c50ad79c
commit a3e49d582e
17 changed files with 626 additions and 332 deletions
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src/user/user_composite.h
+8 -8
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@@ -68,13 +68,13 @@ class mjCComposite {
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
bool Make(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool Make(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjCBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeRope(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjmBody* body, char* error, int error_sz);
bool MakeBox(mjCModel* model, mjmBody* body, char* error, int error_sz);
void MakeShear(mjCModel* model);
void MakeSkin2(mjCModel* model, mjtNum inflate);
@@ -136,8 +136,8 @@ class mjCComposite {
int dim; // dimensionality
private:
mjCBody* AddRopeBody(mjCModel* model, mjCBody* body, int ix, int ix1);
mjCBody* AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
mjmBody* AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1);
mjmBody* AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
};
#endif // MUJOCO_SRC_USER_USER_COMPOSITE_H_