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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.h
+2 -5
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@@ -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