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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_flexcomp.cc
+21 -18
View File
@@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include "user/user_api.h"
#include "user/user_flexcomp.h"
#include <stdio.h>
@@ -76,7 +77,7 @@ mjCFlexcomp::mjCFlexcomp(void) {
// make flexcomp object
bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz) {
bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz) {
bool radial = (type==mjFCOMPTYPE_BOX ||
type==mjFCOMPTYPE_CYLINDER ||
type==mjFCOMPTYPE_ELLIPSOID);
@@ -85,7 +86,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
type==mjFCOMPTYPE_GMSH);
// check parent body name
if (body->name.empty()) {
if (std::string(mjm_getString(body->name)).empty()) {
return comperr(error, "Parent body must have name", error_sz);
}
@@ -381,7 +382,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
// rigid: set parent name, nothing else to do
if (rigid) {
pf->vertbody.push_back(body->name);
pf->vertbody.push_back(std::string(mjm_getString(body->name)).c_str());
return true;
}
@@ -398,21 +399,22 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
// pinned: parent body
if (pinned[i]) {
pf->vertbody.push_back(body->name);
pf->vertbody.push_back(std::string(mjm_getString(body->name)).c_str());
// add plugin
if (plugin_instance) {
body->is_plugin = true;
body->plugin_name = plugin_name;
body->plugin_instance = plugin_instance;
body->plugin_instance_name = plugin_instance_name;
mjmPlugin* plugin = &body->plugin;
plugin->active = true;
plugin->instance = (mjElement)plugin_instance;
mjm_setString(plugin->name, plugin_name.c_str());
mjm_setString(plugin->instance_name, plugin_instance_name.c_str());
}
}
// not pinned: new body
else {
// add new body at vertex coordinates
mjCBody* pb = body->AddBody();
mjmBody* pb = mjm_addBody(body, 0);
// set frame and inertial
pb->pos[0] = point[3*i];
@@ -423,11 +425,11 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
pb->inertia[0] = bodyinertia;
pb->inertia[1] = bodyinertia;
pb->inertia[2] = bodyinertia;
pb->MakeInertialExplicit();
pb->explicitinertial = true;
// add radial slider
if (radial) {
mjCJoint* jnt = pb->AddJoint();
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
@@ -440,7 +442,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
else {
for (int j=0; j<3; j++) {
// add joint to body
mjCJoint* jnt = pb->AddJoint();
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
@@ -453,8 +455,8 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
// construct body name, add to vertbody
char txt[100];
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
pb->name = txt;
pf->vertbody.push_back(pb->name);
mjm_setString(pb->name, txt);
pf->vertbody.push_back(std::string(mjm_getString(pb->name)).c_str());
// clear flex vertex coordinates if allocated
if (!centered) {
@@ -465,10 +467,11 @@ bool mjCFlexcomp::Make(mjCModel* model, mjCBody* body, char* error, int error_sz
// add plugin
if (plugin_instance) {
pb->is_plugin = true;
pb->plugin_name = plugin_name;
pb->plugin_instance = plugin_instance;
pb->plugin_instance_name = plugin_instance_name;
mjmPlugin* plugin = &pb->plugin;
plugin->active = true;
plugin->instance = (mjElement)plugin_instance;
mjm_setString(plugin->name, plugin_name.c_str());
mjm_setString(plugin->instance_name, plugin_instance_name.c_str());
}
}
}