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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_mesh.cc
+24 -16
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@@ -26,6 +26,8 @@
#include <utility>
#include <vector>
#include "user/user_api.h"
#ifdef MUJOCO_TINYOBJLOADER_IMPL
#define TINYOBJLOADER_IMPLEMENTATION
#endif
@@ -176,6 +178,10 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
// point to local (needs to be after defaults)
plugin.name = (mjString)&plugin_name;
plugin.instance_name = (mjString)&plugin_instance_name;
}
@@ -302,26 +308,27 @@ void mjCMesh::LoadSDF() {
name.c_str(), id);
}
mjCPlugin* plugin_instance = (mjCPlugin*)plugin.instance;
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(plugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support signed distance fields", plugin->name);
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
}
std::vector<mjtNum> attributes(plugin->nattribute, 0);
std::vector<const char*> names(plugin->nattribute, 0);
std::vector<const char*> values(plugin->nattribute, 0);
for (int i=0; i < plugin->nattribute; i++) {
names[i] = plugin->attributes[i];
std::vector<mjtNum> attributes(pplugin->nattribute, 0);
std::vector<const char*> names(pplugin->nattribute, 0);
std::vector<const char*> values(pplugin->nattribute, 0);
for (int i=0; i < pplugin->nattribute; i++) {
names[i] = pplugin->attributes[i];
values[i] = plugin_instance->config_attribs[names[i]].c_str();
}
if (plugin->sdf_attribute) {
plugin->sdf_attribute(attributes.data(), names.data(), values.data());
if (pplugin->sdf_attribute) {
pplugin->sdf_attribute(attributes.data(), names.data(), values.data());
}
mjtNum aabb[6] = {0};
plugin->sdf_aabb(aabb, attributes.data());
pplugin->sdf_aabb(aabb, attributes.data());
mjtNum total = aabb[3] + aabb[4] + aabb[5];
const mjtNum n = 300;
@@ -337,7 +344,7 @@ void mjCMesh::LoadSDF() {
mjtNum point[] = {aabb[0]-aabb[3] + 2 * aabb[3] * i / (nx-1),
aabb[1]-aabb[4] + 2 * aabb[4] * j / (ny-1),
aabb[2]-aabb[5] + 2 * aabb[5] * k / (nz-1)};
field[(k * ny + j) * nx + i] = plugin->sdf_staticdistance(point, attributes.data());
field[(k * ny + j) * nx + i] = pplugin->sdf_staticdistance(point, attributes.data());
}
}
}
@@ -410,7 +417,7 @@ void mjCMesh::Compile(const mjVFS* vfs) {
}
// create using marching cubes
else if (is_plugin) {
else if (plugin.active) {
LoadSDF();
}
@@ -2444,9 +2451,10 @@ void mjCFlex::Compile(const mjVFS* vfs) {
mjXUtil::Vector2String(useredge, edgeidx);
for (int i=0; i<(int)vertbodyid.size(); i++) {
if (model->bodies[vertbodyid[i]]->plugin_instance) {
model->bodies[vertbodyid[i]]->plugin_instance->config_attribs["face"] = userface;
model->bodies[vertbodyid[i]]->plugin_instance->config_attribs["edge"] = useredge;
if (model->bodies[vertbodyid[i]]->plugin.instance) {
mjCPlugin* plugin_instance = (mjCPlugin*)model->bodies[vertbodyid[i]]->plugin.instance;
plugin_instance->config_attribs["face"] = userface;
plugin_instance->config_attribs["edge"] = useredge;
}
}