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Add mjmFlex to C API.

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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
This commit is contained in:
Alessio Quaglino
2024-02-12 08:46:57 -08:00
committed by Copybara-Service
parent ab209c41be
commit b224367a9b
11 changed files with 368 additions and 203 deletions
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src/xml/xml_native_reader.cc
+52 -33
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@@ -1275,14 +1275,22 @@ void mjXReader::Statistic(XMLElement* section) {
//---------------------------------- one-element parsers -------------------------------------------
// flex element parser
void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
string text;
void mjXReader::OneFlex(XMLElement* elem, mjmFlex* pflex) {
string text, name, classname, material;
int n;
// read attributes
ReadAttrTxt(elem, "name", pflex->name);
if (ReadAttrTxt(elem, "name", name)) {
mjm_setString(pflex->name, name.c_str());
}
if (ReadAttrTxt(elem, "classname", classname)) {
mjm_setString(pflex->classname, classname.c_str());
}
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(pflex->material, material.c_str());
}
ReadAttr(elem, "radius", 1, &pflex->radius, text);
ReadAttrTxt(elem, "material", pflex->get_material());
ReadAttr(elem, "rgba", 4, pflex->rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
pflex->flatskin = (n==1);
@@ -1292,16 +1300,22 @@ void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
// read data vectors
if (ReadAttrTxt(elem, "body", text, true)) {
String2Vector(text, pflex->vertbody);
mjm_setStringVec(pflex->vertbody, text.c_str());
}
if (ReadAttrTxt(elem, "vertex", text)) {
String2Vector(text, pflex->vert);
std::vector<double> vert;
String2Vector(text, vert);
mjm_setDouble(pflex->vert, vert.data(), vert.size());
}
if (ReadAttrTxt(elem, "element", text, true)) {
String2Vector(text, pflex->elem);
std::vector<int> elem;
String2Vector(text, elem);
mjm_setInt(pflex->elem, elem.data(), elem.size());
}
if (ReadAttrTxt(elem, "texcoord", text)) {
String2Vector(text, pflex->texcoord);
std::vector<float> texcoord;
String2Vector(text, texcoord);
mjm_setFloat(pflex->texcoord, texcoord.data(), texcoord.size());
}
// contact subelement
@@ -1331,7 +1345,9 @@ void mjXReader::OneFlex(XMLElement* elem, mjCFlex* pflex) {
ReadAttr(edge, "damping", 1, &pflex->edgedamping, text);
}
GetXMLPos(elem, pflex);
// write error info
mjm_setString(pflex->info,
std::string("line = " + std::to_string(elem->GetLineNum()) + ", column = -1").c_str());
}
@@ -2400,7 +2416,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjmBody* pbody, mjCDef* def) {
// make flexcomp
void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
string text;
string text, material;
int n;
// create out-of-DOM element
@@ -2417,14 +2433,16 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
ReadAttr(elem, "mass", 1, &fcomp.mass, text);
ReadAttr(elem, "inertiabox", 1, &fcomp.inertiabox, text);
ReadAttrTxt(elem, "file", fcomp.file);
ReadAttrTxt(elem, "material", fcomp.def.flex.get_material());
ReadAttr(elem, "rgba", 4, fcomp.def.flex.rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
fcomp.def.flex.flatskin = (n==1);
if (ReadAttrTxt(elem, "material", material)) {
mjm_setString(fcomp.def.flex.spec.material, material.c_str());
}
ReadAttrInt(elem, "dim", &fcomp.def.flex.dim);
ReadAttr(elem, "radius", 1, &fcomp.def.flex.radius, text);
ReadAttrInt(elem, "group", &fcomp.def.flex.group);
ReadAttr(elem, "rgba", 4, fcomp.def.flex.spec.rgba, text);
if (MapValue(elem, "flatskin", &n, bool_map, 2)) {
fcomp.def.flex.spec.flatskin = (n==1);
}
ReadAttrInt(elem, "dim", &fcomp.def.flex.spec.dim);
ReadAttr(elem, "radius", 1, &fcomp.def.flex.spec.radius, text);
ReadAttrInt(elem, "group", &fcomp.def.flex.spec.group);
// pose
ReadAttr(elem, "pos", 3, fcomp.pos, text);
@@ -2453,28 +2471,28 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjmBody* pbody) {
}
ReadAttr(edge, "solref", mjNREF, fcomp.def.equality.spec.solref, text, false, false);
ReadAttr(edge, "solimp", mjNIMP, fcomp.def.equality.spec.solimp, text, false, false);
ReadAttr(edge, "stiffness", 1, &fcomp.def.flex.edgestiffness, text);
ReadAttr(edge, "damping", 1, &fcomp.def.flex.edgedamping, text);
ReadAttr(edge, "stiffness", 1, &fcomp.def.flex.spec.edgestiffness, text);
ReadAttr(edge, "damping", 1, &fcomp.def.flex.spec.edgedamping, text);
}
// contact
XMLElement* cont = FirstChildElement(elem, "contact");
if (cont) {
ReadAttrInt(cont, "contype", &fcomp.def.flex.contype);
ReadAttrInt(cont, "conaffinity", &fcomp.def.flex.conaffinity);
ReadAttrInt(cont, "condim", &fcomp.def.flex.condim);
ReadAttrInt(cont, "priority", &fcomp.def.flex.priority);
ReadAttr(cont, "friction", 3, fcomp.def.flex.friction, text, false, false);
ReadAttr(cont, "solmix", 1, &fcomp.def.flex.solmix, text);
ReadAttr(cont, "solref", mjNREF, fcomp.def.flex.solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, fcomp.def.flex.solimp, text, false, false);
ReadAttr(cont, "margin", 1, &fcomp.def.flex.margin, text);
ReadAttr(cont, "gap", 1, &fcomp.def.flex.gap, text);
ReadAttrInt(cont, "contype", &fcomp.def.flex.spec.contype);
ReadAttrInt(cont, "conaffinity", &fcomp.def.flex.spec.conaffinity);
ReadAttrInt(cont, "condim", &fcomp.def.flex.spec.condim);
ReadAttrInt(cont, "priority", &fcomp.def.flex.spec.priority);
ReadAttr(cont, "friction", 3, fcomp.def.flex.spec.friction, text, false, false);
ReadAttr(cont, "solmix", 1, &fcomp.def.flex.spec.solmix, text);
ReadAttr(cont, "solref", mjNREF, fcomp.def.flex.spec.solref, text, false, false);
ReadAttr(cont, "solimp", mjNIMP, fcomp.def.flex.spec.solimp, text, false, false);
ReadAttr(cont, "margin", 1, &fcomp.def.flex.spec.margin, text);
ReadAttr(cont, "gap", 1, &fcomp.def.flex.spec.gap, text);
if (MapValue(cont, "internal", &n, bool_map, 2)) {
fcomp.def.flex.internal = (n==1);
fcomp.def.flex.spec.internal = (n==1);
}
MapValue(cont, "selfcollide", &fcomp.def.flex.selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &fcomp.def.flex.activelayers);
MapValue(cont, "selfcollide", &fcomp.def.flex.spec.selfcollide, flexself_map, 5);
ReadAttrInt(cont, "activelayers", &fcomp.def.flex.spec.activelayers);
}
// pin
@@ -2639,6 +2657,7 @@ void mjXReader::Default(XMLElement* section, int parentid) {
mjm_finalize(def->material.spec.element);
mjm_finalize(def->equality.spec.element);
mjm_finalize(def->tendon.spec.element);
mjm_finalize(def->flex.spec.element);
// advance
elem = NextSiblingElement(elem);
@@ -3385,7 +3404,7 @@ void mjXReader::Deformable(XMLElement* section) {
// flex sub-element
if (name=="flex") {
// create flex and parse
mjCFlex* pflex = model->AddFlex();
mjmFlex* pflex = mjm_addFlex(model);
OneFlex(elem, pflex);
}