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Remove the particle composite (replaced by replicate).

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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
This commit is contained in:
Alessio Quaglino
2025-02-23 03:13:20 -08:00
committed by Copybara-Service
parent 0fcd20f0da
commit c52d1b3941
20 changed files with 164 additions and 527 deletions
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src/user/user_composite.cc
+9 -200
View File
@@ -57,7 +57,6 @@ mjCComposite::mjCComposite(void) {
prefix.clear();
type = mjCOMPTYPE_PARTICLE;
count[0] = count[1] = count[2] = 1;
spacing = 0;
mjuu_setvec(offset, 0, 0, 0);
flatinertia = 0;
@@ -123,32 +122,12 @@ void mjCComposite::SetDefault(void) {
AddDefaultJoint();
// set default geom and tendon group to 0 if needed to be visible
if (!skin ||
type==mjCOMPTYPE_PARTICLE ||
type==mjCOMPTYPE_CABLE) {
if (!skin || type==mjCOMPTYPE_CABLE) {
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].spec.geom->group = 0;
def[i].spec.tendon->group = 0;
}
}
// other type-specific adjustments
switch (type) {
case mjCOMPTYPE_PARTICLE: // particle
// no friction with anything
def[0].spec.geom->condim = 1;
def[0].spec.geom->priority = 1;
break;
case mjCOMPTYPE_CABLE: // cable
break;
default:
// SHOULD NOT OCCUR
mju_error("Invalid composite type: %d", type);
break;
}
}
@@ -157,14 +136,6 @@ void mjCComposite::SetDefault(void) {
bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
// check geom type
if ((def[0].spec.geom->type!=mjGEOM_SPHERE &&
def[0].spec.geom->type!=mjGEOM_CAPSULE &&
def[0].spec.geom->type!=mjGEOM_ELLIPSOID) &&
type!=mjCOMPTYPE_PARTICLE && type!=mjCOMPTYPE_CABLE) {
return comperr(error, "Composite geom type must be sphere, capsule or ellipsoid", error_sz);
}
// check counts
for (int i=0; i<3; i++) {
if (count[i]<1) {
@@ -172,25 +143,11 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
}
}
// check spacing
if (type==mjCOMPTYPE_GRID || (type==mjCOMPTYPE_PARTICLE && uservert.empty())) {
if (spacing < mju_max(def[0].spec.geom->size[0],
mju_max(def[0].spec.geom->size[1], def[0].spec.geom->size[2]))) {
return comperr(error, "Spacing must be larger than geometry size",
error_sz);
}
}
// check cable sizes are nonzero if vertices are not prescribed
if (mjuu_dot3(size, size)<mjMINVAL && uservert.empty()) {
return comperr(error, "Positive spacing or length expected in composite", error_sz);
}
// check spacing is not used by cable
if (spacing && type==mjCOMPTYPE_CABLE) {
return comperr(error, "Spacing is not supported by cable composite", error_sz);
}
// check either uservert or count but not both
if (!uservert.empty()) {
if (count[0]>1) {
@@ -249,7 +206,10 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
// dispatch
switch (type) {
case mjCOMPTYPE_PARTICLE:
return MakeParticle(model, body, error, error_sz);
return comperr(error,
"The \"particle\" composite type is deprecated. Please use "
"\"replicate\" instead.",
error_sz);
case mjCOMPTYPE_GRID:
return comperr(error,
@@ -285,84 +245,6 @@ bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz)
bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100];
std::vector<int> face;
// populate vertices and names
if (uservert.empty()) {
if (spacing < mju_max(def[0].spec.geom->size[0],
mju_max(def[0].spec.geom->size[1], def[0].spec.geom->size[2])))
return comperr(error, "Spacing must be larger than geometry size", error_sz);
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int iz=0; iz<count[2]; iz++) {
uservert.push_back(spacing*(ix - 0.5*count[0]));
uservert.push_back(spacing*(iy - 0.5*count[1]));
uservert.push_back(spacing*(iz - 0.5*count[2]));
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
username.push_back(std::string(txt));
}
}
}
}
// create bodies and geoms
for (int i=0; i<uservert.size()/3; i++) {
// create body
mjsBody* b = mjs_addBody(body, NULL);
if (!username.empty()) {
mjs_setString(b->name, username[i].c_str());
} else {
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
mjs_setString(b->name, txt);
}
// set body position
b->pos[0] = offset[0] + uservert[3*i];
b->pos[1] = offset[1] + uservert[3*i+1];
b->pos[2] = offset[2] + uservert[3*i+2];
// add slider joints if none defined
if (!add[mjCOMPKIND_PARTICLE]) {
for (int i=0; i<3; i++) {
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
jnt->axis[i] = 1;
}
}
// add user-specified joints
else {
for (auto& defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
mjsJoint* jnt = mjs_addJoint(b, &defjnt.spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
}
}
// add geom
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
// add site
mjsSite* s = mjs_addSite(b, &def[0].spec);
mjs_setDefault(s->element, mjs_getDefault(body->element));
s->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
mjs_setString(s->name, txt);
}
return true;
}
bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
// check dim
if (dim!=1) {
@@ -677,83 +559,14 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
}
// couple with bones
if (type==mjCOMPTYPE_PARTICLE) {
MakeClothBones(model, skin);
} else if (type==mjCOMPTYPE_CABLE) {
MakeCableBones(model, skin);
}
MakeCableBones(model, skin);
CopyIntoSkin(skin);
}
// add bones in 2D
void mjCComposite::MakeClothBones(mjCModel* model, mjsSkin* skin) {
char txt[100];
int N = count[0]*count[1];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);
bindquat.push_back(1);
bindquat.push_back(0);
bindquat.push_back(0);
bindquat.push_back(0);
// create vertid and vertweight
vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
vertweight.push_back({1, 1});
}
}
}
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin) {
char txt[100];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(ix*spacing);
bindpos.push_back(iy*spacing);
bindpos.push_back(0);
bindquat.push_back(1);
bindquat.push_back(0);
bindquat.push_back(0);
bindquat.push_back(0);
// empty vertid and vertweight
vertid.push_back({});
vertweight.push_back({});
}
}
}
// add bones to 1D
void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
char this_body[100];
@@ -1160,7 +973,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
skin->group = skingroup;
// populate mesh: two sides
mjtNum S = spacing/(1+skinsubgrid);
mjtNum S = 0;
int C0 = count[0] + (count[0]-1)*skinsubgrid;
int C1 = count[1] + (count[1]-1)*skinsubgrid;
int NN = C0*C1;
@@ -1236,11 +1049,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
face.push_back(NN + iy+1 + (C0-1)*C1);
}
if (type==mjCOMPTYPE_PARTICLE) {
MakeClothBonesSubgrid(model, skin);
} else if (type==mjCOMPTYPE_CABLE) {
MakeCableBonesSubgrid(model, skin);
}
MakeCableBonesSubgrid(model, skin);
// bind vertices to bones: one big square at a time
for (int ix=0; ix<count[0]-1; ix++) {
src/user/user_composite.h
+2 -5
View File
@@ -49,7 +49,8 @@ typedef enum _mjtCompKind {
typedef enum _mjtCompShape {
mjCOMPSHAPE_LINE = 0,
mjCOMPSHAPE_INVALID = -1,
mjCOMPSHAPE_LINE,
mjCOMPSHAPE_COS,
mjCOMPSHAPE_SIN,
mjCOMPSHAPE_ZERO,
@@ -66,13 +67,10 @@ class mjCComposite {
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
bool MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
void MakeSkin2(mjCModel* model, mjtNum inflate);
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
void MakeClothBones(mjCModel* model, mjsSkin* skin);
void MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin);
void MakeCableBones(mjCModel* model, mjsSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
@@ -80,7 +78,6 @@ class mjCComposite {
std::string prefix; // name prefix
mjtCompType type; // composite type
int count[3]; // geom count in each dimension
double spacing; // spacing between elements
double offset[3]; // position offset for particle and grid
double flatinertia; // flatten ineria of cloth elements; 0: disable
src/xml/xml_native_reader.cc
+8 -56
View File
@@ -287,25 +287,18 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"composite", "*", "12", "prefix", "type", "count", "spacing", "offset",
"flatinertia", "solrefsmooth", "solimpsmooth", "vertex",
"initial", "curve", "size"},
{"composite", "*", "9", "prefix", "type", "count", "offset",
"flatinertia", "vertex", "initial", "curve", "size"},
{"<"},
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction"},
{"tendon", "*", "17", "kind", "group", "stiffness", "damping",
"solreffix", "solimpfix",
"limited", "range", "margin", "solreflimit", "solimplimit",
"frictionloss", "solreffriction", "solimpfriction",
"material", "rgba", "width"},
{"skin", "?", "6", "texcoord", "material", "group", "rgba", "inflate", "subgrid"},
{"geom", "?", "17", "type", "contype", "conaffinity", "condim",
"group", "priority", "size", "material", "rgba", "friction", "mass",
"density", "solmix", "solref", "solimp", "margin", "gap"},
{"site", "?", "4", "group", "size", "material", "rgba"},
{"pin", "*", "1", "coord"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
@@ -766,13 +759,6 @@ const mjMap shape_map[mjNCOMPSHAPES] = {
};
// composite tendon kind
const mjMap tkind_map[2] = {
{"main", mjCOMPKIND_TENDON},
{"shear", mjCOMPKIND_SHEAR}
};
// mesh type
const mjMap meshtype_map[2] = {
{"false", mjINERTIA_VOLUME},
@@ -2412,7 +2398,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
comp.type = (mjtCompType)n;
}
ReadAttr(elem, "count", 3, comp.count, text, false, false);
ReadAttr(elem, "spacing", 1, &comp.spacing, text, false);
ReadAttr(elem, "offset", 3, comp.offset, text);
ReadAttr(elem, "flatinertia", 1, &comp.flatinertia, text);
@@ -2436,11 +2421,17 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
std::istringstream iss(curves);
int i = 0;
while (iss) {
if (curves.empty()) {
break;
}
iss >> text;
if (i>2) {
throw mjXError(elem, "The curve array must have a maximum of 3 components");
}
comp.curve[i++] = (mjtCompShape)FindKey(shape_map, mjNCOMPSHAPES, text);
if (comp.curve[i-1] == -1) {
throw mjXError(elem, "The curve array contains an invalid shape");
}
if (iss.eof()){
break;
}
@@ -2557,45 +2548,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
ejnt = NextSiblingElement(ejnt, "joint");
}
// tendon
XMLElement* eten = FirstChildElement(elem, "tendon");
while (eten) {
// kind
int kind;
MapValue(eten, "kind", &kind, tkind_map, 2, true);
comp.add[kind] = true;
// get default structs
mjsTendon& dtendon = *comp.def[kind].spec.tendon;
mjsEquality& dequality = *comp.def[kind].spec.equality;
// solreffix, solimpfix
ReadAttr(eten, "solreffix", mjNREF, dequality.solref, text, false, false);
ReadAttr(eten, "solimpfix", mjNIMP, dequality.solimp, text, false, false);
// tendon attributes
string material;
MapValue(elem, "limited", &dtendon.limited, TFAuto_map, 3);
ReadAttrInt(eten, "group", &dtendon.group);
ReadAttr(eten, "solreflimit", mjNREF, dtendon.solref_limit, text, false, false);
ReadAttr(eten, "solimplimit", mjNIMP, dtendon.solimp_limit, text, false, false);
ReadAttr(eten,
"solreffriction", mjNREF, dtendon.solref_friction, text, false, false);
ReadAttr(eten,
"solimpfriction", mjNIMP, dtendon.solimp_friction, text, false, false);
ReadAttr(eten, "range", 2, dtendon.range, text);
ReadAttr(eten, "margin", 1, &dtendon.margin, text);
ReadAttr(eten, "stiffness", 1, &dtendon.stiffness, text);
ReadAttr(eten, "damping", 1, &dtendon.damping, text);
ReadAttr(eten, "frictionloss", 1, &dtendon.frictionloss, text);
ReadAttrTxt(eten, "material", material);
mjs_setString(dtendon.material, material.c_str());
ReadAttr(eten, "rgba", 4, dtendon.rgba, text);
ReadAttr(eten, "width", 1, &dtendon.width, text);
// advance
eten = NextSiblingElement(eten, "tendon");
}
// make composite
char error[200];
src/xml/xml_native_reader.h
+1 -1
View File
@@ -101,7 +101,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 239
#define nMJCF 237
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_