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Add elasticity parameters to the schema.

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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
This commit is contained in:
Alessio Quaglino
2024-09-16 05:55:40 -07:00
committed by Copybara-Service
parent 015bdeb756
commit b15de2c951
17 changed files with 146 additions and 52 deletions
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src/xml/xml_native_reader.cc
+20
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@@ -326,6 +326,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"flatskin", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler"},
{"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
@@ -346,6 +347,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
{"edge", "?", "2", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
@@ -1388,6 +1390,15 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
ReadAttr(edge, "damping", 1, &flex->edgedamping, text);
}
// elasticity subelement
XMLElement* elasticity = FirstChildElement(elem, "elasticity");
if (elasticity) {
ReadAttr(elasticity, "young", 1, &flex->young, text);
ReadAttr(elasticity, "poisson", 1, &flex->poisson, text);
ReadAttr(elasticity, "thickness", 1, &flex->thickness, text);
ReadAttr(elasticity, "damping", 1, &flex->damping, text);
}
// write error info
mjs_setString(flex->info, ("line " + std::to_string(elem->GetLineNum())).c_str());
}
@@ -2674,6 +2685,15 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
ReadAttr(edge, "damping", 1, &dflex.edgedamping, text);
}
// elasticity
XMLElement* elasticity = FirstChildElement(elem, "elasticity");
if (elasticity) {
ReadAttr(elasticity, "young", 1, &dflex.young, text);
ReadAttr(elasticity, "poisson", 1, &dflex.poisson, text);
ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
}
// contact
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {