Refactor MjcPhysics EqualityJointAPI polynomial coefficients.
The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`. PiperOrigin-RevId: 865947359 Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
7b0b3cf8e3
commit
c63ba211e5
@@ -150,35 +150,124 @@ class MjcPhysicsEqualityJointAPI : public UsdAPISchemaBase {
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// POLYCOEF
|
||||
// COEF0
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Coefficients a0 through a4 of the quartic polynomial. If the joint values
|
||||
/// of the constrained joint and reference joint are respectively y and x, and
|
||||
/// their reference positions (corresponding to the joint values in the
|
||||
/// initial model configuration) are y0 and x0, the constraint is: y = y0 + a0
|
||||
/// + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4. Omitting the target
|
||||
/// joint (joint2) is equivalent to setting x = x0, in which case the
|
||||
/// constraint is y = y0 + a0. The default [0, 1, 0, 0, 0] creates a simple
|
||||
/// 1:1 mimic constraint where y tracks x with the same offset from their
|
||||
/// references.
|
||||
/// Constant coefficient a0 of the quartic polynomial. The constraint is:
|
||||
/// y = y0 + a0 + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:polycoef = [0, 1, 0, 0, 0]` |
|
||||
/// | C++ Type | VtArray<double> |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
|
||||
/// | Declaration | `uniform double mjc:coef0 = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetPolycoefAttr() const;
|
||||
UsdAttribute GetCoef0Attr() const;
|
||||
|
||||
/// See GetPolycoefAttr(), and also
|
||||
/// See GetCoef0Attr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreatePolycoefAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
UsdAttribute CreateCoef0Attr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// COEF1
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Linear coefficient a1 of the quartic polynomial.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:coef1 = 1` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetCoef1Attr() const;
|
||||
|
||||
/// See GetCoef1Attr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateCoef1Attr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// COEF2
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Quadratic coefficient a2 of the quartic polynomial.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:coef2 = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetCoef2Attr() const;
|
||||
|
||||
/// See GetCoef2Attr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateCoef2Attr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// COEF3
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Cubic coefficient a3 of the quartic polynomial.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:coef3 = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetCoef3Attr() const;
|
||||
|
||||
/// See GetCoef3Attr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateCoef3Attr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// COEF4
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Quartic coefficient a4 of the quartic polynomial.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:coef4 = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetCoef4Attr() const;
|
||||
|
||||
/// See GetCoef4Attr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateCoef4Attr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// ===================================================================== //
|
||||
|
||||
@@ -195,6 +195,26 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuator
|
||||
const TfToken mjcBiasType;
|
||||
/// \brief "mjc:coef0"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcCoef0;
|
||||
/// \brief "mjc:coef1"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcCoef1;
|
||||
/// \brief "mjc:coef2"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcCoef2;
|
||||
/// \brief "mjc:coef3"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcCoef3;
|
||||
/// \brief "mjc:coef4"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcCoef4;
|
||||
/// \brief "mjc:compiler:alignFree"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
@@ -580,10 +600,6 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsTendon
|
||||
const TfToken mjcPathSegments;
|
||||
/// \brief "mjc:polycoef"
|
||||
///
|
||||
/// MjcPhysicsEqualityJointAPI
|
||||
const TfToken mjcPolycoef;
|
||||
/// \brief "mjc:priority"
|
||||
///
|
||||
/// MjcPhysicsCollisionAPI
|
||||
|
||||
Reference in New Issue
Block a user