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Convert mjmStruct to a C-struct.

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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
This commit is contained in:
Alessio Quaglino
2024-02-01 06:56:46 -08:00
committed by Copybara-Service
parent 7a98038e88
commit b3f93d436b
7 changed files with 103 additions and 65 deletions
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src/user/user_objects.h
+35 -6
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@@ -390,6 +390,9 @@ class mjCGeom : public mjCBase {
bool IsVisual(void) const { return visual_; }
void SetNotVisual(void) { visual_ = false; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// Compute all coefs modeling the interaction with the surrounding fluid.
void SetFluidCoefs(void);
// Compute the kappa coefs of the added inertia due to the surrounding fluid.
@@ -418,7 +421,6 @@ class mjCGeom : public mjCBase {
std::string hfieldname; // hfield attached to geom
std::string meshname; // mesh attached to geom
double fitscale; // scale mesh uniformly
std::string material; // name of material used for rendering
std::vector<double> userdata; // user data
float rgba[4]; // rgba when material is omitted
mjtMeshType typeinertia; // selects between surface and volume inertia
@@ -440,6 +442,7 @@ class mjCGeom : public mjCBase {
double GetRBound(void); // compute bounding sphere radius
void ComputeAABB(void); // compute axis-aligned bounding box
std::string material_; // name of material used for rendering
bool visual_; // true: geom does not collide and is unreferenced
int matid; // id of geom's material
mjCMesh* mesh; // geom's mesh
@@ -461,8 +464,8 @@ typedef struct _mjmSite {
double size[3]; // geom size for rendering
double pos[3]; // position
double quat[4]; // orientation
std::string material; // name of material for rendering
std::vector<double> userdata; // user data
char* material; // name of material for rendering
double* userdata; // user data
float rgba[4]; // rgba when material is omitted
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
mjCAlternative alt; // alternative orientation specification
@@ -478,12 +481,30 @@ class mjCSite : public mjCBase, private mjmSite {
public:
mjmSite spec; // variables set by user
void set_material(std::string _material) {
spec_material_ = _material;
spec.material = spec_material_.data();
}
void set_userdata(std::vector<double> _userdata) {
spec_userdata_ = _userdata;
spec.userdata = spec_userdata_.data();
}
std::vector<double>& get_userdata() { return userdata_; }
std::string& get_material() { return material_; }
// variables computed by 'compile' and 'mjCBody::addSite'
private:
mjCSite(mjCModel* = 0, mjCDef* = 0); // constructor
void Compile(void); // compiler
void CopyFromSpec(); // copy spec into attributes
// variable-size data
std::string material_;
std::vector<double> userdata_;
std::string spec_material_;
std::vector<double> spec_userdata_;
mjCBody* body; // site's body
int matid; // material id for rendering
};
@@ -573,6 +594,9 @@ class mjCFlex: public mjCBase {
friend class mjXWriter;
public:
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// contact properties
int contype; // contact type
int conaffinity; // contact affinity
@@ -595,7 +619,6 @@ class mjCFlex: public mjCBase {
int group; // group for visualizatioh
double edgestiffness; // edge stiffness
double edgedamping; // edge damping
std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
std::vector<std::string> vertbody; // vertex body names
@@ -626,6 +649,7 @@ class mjCFlex: public mjCBase {
std::vector<int> evpair; // element-vertex pairs
std::vector<mjtNum> vertxpos; // global vertex positions
mjCBoundingVolumeHierarchy tree; // bounding volume hierarchy
std::string material_; // name of material used for rendering
};
@@ -799,9 +823,10 @@ class mjCSkin: public mjCBase {
public:
std::string get_file() const { return file; }
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
std::string file; // skin file
std::string material; // name of material used for rendering
float rgba[4]; // rgba when material is omitted
float inflate; // inflate in normal direction
int group; // group for visualization
@@ -824,6 +849,7 @@ class mjCSkin: public mjCBase {
void Compile(const mjVFS* vfs); // compiler
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
std::string material_; // name of material used for rendering
int matid; // material id
std::vector<int> bodyid; // body ids
};
@@ -1059,6 +1085,9 @@ class mjCTendon : public mjCBase {
friend class mjXWriter;
public:
void set_material(std::string _material) { material_ = _material; }
std::string& get_material() { return material_; }
// API for adding wrapping objects
void WrapSite(std::string name, int row=-1, int col=-1); // site
void WrapGeom(std::string name, std::string side, int row=-1, int col=-1); // geom
@@ -1071,7 +1100,6 @@ class mjCTendon : public mjCBase {
// variables set by user
int group; // group for visualization
std::string material; // name of material for rendering
int limited; // does tendon have limits: 0 false, 1 true, 2 auto
double width; // width for rendering
mjtNum solref_limit[mjNREF]; // solver reference: tendon limits
@@ -1092,6 +1120,7 @@ class mjCTendon : public mjCBase {
~mjCTendon(); // destructor
void Compile(void); // compiler
std::string material_; // name of material for rendering
int matid; // material id for rendering
std::vector<mjCWrap*> path; // wrapping objects
};