Clean-up user_api.h and user_init.cc
PiperOrigin-RevId: 605967516 Change-Id: Ieaf75d764778d81932b860ca9f16007adc0037a1
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
230f8c7b63
commit
cebd2a657e
+70
-57
@@ -19,22 +19,21 @@
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#include "user/user_util.h"
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// default body attributes
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void mjm_defaultBody(mjmBody& body) {
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memset(&body, 0, sizeof(mjmBody));
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// set non-zero defaults
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body.fullinertia[0] = mjNAN;
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body.explicitinertial = 0;
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body.mocap = 0;
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body.quat[0] = 1;
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body.iquat[0] = 1;
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// body frame
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body.pos[0] = mjNAN;
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body.ipos[0] = mjNAN;
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body.quat[0] = 1;
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body.alt.axisangle[0] = body.alt.xyaxes[0] = body.alt.zaxis[0] = body.alt.euler[0] = mjNAN;
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// inertial frame
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body.ipos[0] = mjNAN;
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body.iquat[0] = 1;
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body.ialt.axisangle[0] = body.ialt.xyaxes[0] = body.ialt.zaxis[0] = body.ialt.euler[0] = mjNAN;
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body.plugin.active = false;
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body.plugin.instance = nullptr;
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body.fullinertia[0] = mjNAN;
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}
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@@ -42,6 +41,7 @@ void mjm_defaultBody(mjmBody& body) {
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// default joint attributes
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void mjm_defaultJoint(mjmJoint& joint) {
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memset(&joint, 0, sizeof(mjmJoint));
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joint.type = mjJNT_HINGE;
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joint.axis[2] = 1;
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joint.limited = 2;
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@@ -57,10 +57,15 @@ void mjm_defaultJoint(mjmJoint& joint) {
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void mjm_defaultGeom(mjmGeom& geom) {
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memset(&geom, 0, sizeof(mjmGeom));
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// set non-zero defaults
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geom.fromto[0] = mjNAN;
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geom.mass = mjNAN;
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// type
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geom.type = mjGEOM_SPHERE;
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// frame
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geom.quat[0] = 1;
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geom.fromto[0] = mjNAN;
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geom.alt.axisangle[0] = geom.alt.xyaxes[0] = geom.alt.zaxis[0] = geom.alt.euler[0] = mjNAN;
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// contact-related
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geom.contype = 1;
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geom.conaffinity = 1;
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geom.condim = 3;
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@@ -69,34 +74,44 @@ void mjm_defaultGeom(mjmGeom& geom) {
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geom.friction[2] = 0.0001;
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geom.solmix = 1.0;
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mj_defaultSolRefImp(geom.solref, geom.solimp);
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geom.density = 1000; // water density (1000 kg / m^3)
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geom.fitscale = 1;
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// inertia-related
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geom.mass = mjNAN;
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geom.density = 1000; // water density (1000 Kg / m^3)
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geom.typeinertia = mjINERTIA_VOLUME;
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// color
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geom.rgba[0] = geom.rgba[1] = geom.rgba[2] = 0.5f;
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geom.rgba[3] = 1.0f;
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geom.typeinertia = mjINERTIA_VOLUME;
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geom.quat[0] = 1;
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geom.alt.axisangle[0] = geom.alt.xyaxes[0] = geom.alt.zaxis[0] = geom.alt.euler[0] = mjNAN;
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geom.fluid_coefs[0] = 0.5; // blunt drag coefficient
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geom.fluid_coefs[1] = 0.25; // slender drag coefficient
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geom.fluid_coefs[2] = 1.5; // angular drag coefficient
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geom.fluid_coefs[3] = 1.0; // kutta lift coefficient
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geom.fluid_coefs[4] = 1.0; // magnus lift coefficient
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geom.plugin.active = false;
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geom.plugin.instance = nullptr;
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// fluid forces
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geom.fluid_coefs[0] = 0.5; // blunt drag
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geom.fluid_coefs[1] = 0.25; // slender drag
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geom.fluid_coefs[2] = 1.5; // angular drag
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geom.fluid_coefs[3] = 1.0; // kutta lift
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geom.fluid_coefs[4] = 1.0; // magnus lift
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// other
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geom.fitscale = 1;
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}
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// default site attributes
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void mjm_defaultSite(mjmSite& site) {
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// set everything to 0 / false / NULL
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memset(&site, 0, sizeof(mjmSite));
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// set non-zero defaults
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// type
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site.type = mjGEOM_SPHERE;
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// frame
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site.quat[0] = 1;
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site.size[0] = site.size[1] = site.size[2] = 0.005;
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site.fromto[0] = mjNAN;
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site.alt.axisangle[0] = site.alt.xyaxes[0] = site.alt.zaxis[0] = site.alt.euler[0] = mjNAN;
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// color
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site.rgba[0] = site.rgba[1] = site.rgba[2] = 0.5f;
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site.rgba[3] = 1.0f;
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}
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@@ -106,12 +121,18 @@ void mjm_defaultSite(mjmSite& site) {
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// default cam attributes
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void mjm_defaultCamera(mjmCamera& cam) {
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memset(&cam, 0, sizeof(mjmCamera));
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// type
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cam.mode = mjCAMLIGHT_FIXED;
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// extrinsics
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cam.quat[0] = 1;
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cam.alt.axisangle[0] = cam.alt.xyaxes[0] = cam.alt.zaxis[0] = cam.alt.euler[0] = mjNAN;
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// intrinsics
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cam.fovy = 45;
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cam.ipd = 0.068;
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cam.resolution[0] = cam.resolution[1] = 1;
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cam.alt.axisangle[0] = cam.alt.xyaxes[0] = cam.alt.zaxis[0] = cam.alt.euler[0] = mjNAN;
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}
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@@ -119,22 +140,24 @@ void mjm_defaultCamera(mjmCamera& cam) {
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// default light attributes
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void mjm_defaultLight(mjmLight& light) {
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memset(&light, 0, sizeof(mjmLight));
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// mode
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light.mode = mjCAMLIGHT_FIXED;
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light.directional = 0;
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// intrinsics
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light.castshadow = 1;
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light.active = 1;
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light.dir[2] = -1;
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light.attenuation[0] = 1;
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light.cutoff = 45;
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light.exponent = 10;
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light.ambient[0] = light.ambient[1] = light.ambient[2] = 0;
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light.diffuse[0] = light.diffuse[1] = light.diffuse[2] = 0.7;
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light.specular[0] = light.specular[1] = light.specular[2] = 0.3;
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}
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// Default equality attributes.
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// default equality attributes
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void mjm_defaultEquality(mjmEquality& equality) {
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memset(&equality, 0, sizeof(mjmEquality));
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equality.type = mjEQ_CONNECT;
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@@ -149,18 +172,11 @@ void mjm_defaultEquality(mjmEquality& equality) {
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// default tendon attributes
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void mjm_defaultTendon(mjmTendon& tendon) {
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memset(&tendon, 0, sizeof(mjmTendon));
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tendon.group = 0;
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tendon.width = 0.003;
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tendon.limited = 2;
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tendon.range[0] = 0;
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tendon.range[1] = 0;
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tendon.springlength[0] = tendon.springlength[1] = -1;
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mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
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mj_defaultSolRefImp(tendon.solref_friction, tendon.solimp_friction);
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tendon.margin = 0;
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tendon.stiffness = 0;
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tendon.damping = 0;
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tendon.frictionloss = 0;
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tendon.springlength[0] = tendon.springlength[1] = -1;
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tendon.width = 0.003;
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tendon.rgba[0] = tendon.rgba[1] = tendon.rgba[2] = 0.5f;
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tendon.rgba[3] = 1.0f;
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}
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@@ -170,23 +186,25 @@ void mjm_defaultTendon(mjmTendon& tendon) {
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// default actuator attributes
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void mjm_defaultActuator(mjmActuator& actuator) {
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memset(&actuator, 0, sizeof(mjmActuator));
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actuator.group = 0;
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// gain, bias
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actuator.gaintype = mjGAIN_FIXED;
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actuator.gainprm[0] = 1;
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actuator.biastype = mjBIAS_NONE;
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// activation state
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actuator.dyntype = mjDYN_NONE;
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actuator.dynprm[0] = 1;
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actuator.actdim = -1;
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// transmission
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actuator.trntype = mjTRN_UNDEFINED;
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actuator.gear[0] = 1;
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// input/output clamping
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actuator.ctrllimited = 2;
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actuator.forcelimited = 2;
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actuator.actlimited = 2;
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actuator.actdim = -1;
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actuator.plugin_actdim = 0;
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actuator.trntype = mjTRN_UNDEFINED;
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actuator.dyntype = mjDYN_NONE;
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actuator.gaintype = mjGAIN_FIXED;
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actuator.biastype = mjBIAS_NONE;
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actuator.actearly = 0;
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actuator.gear[0] = 1;
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actuator.dynprm[0] = 1;
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actuator.gainprm[0] = 1;
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actuator.cranklength = 0;
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actuator.plugin.active = false;
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actuator.plugin.instance = nullptr;
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}
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@@ -197,11 +215,6 @@ void mjm_defaultSensor(mjmSensor& sensor) {
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sensor.type = mjSENS_TOUCH;
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sensor.datatype = mjDATATYPE_REAL;
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sensor.needstage = mjSTAGE_ACC;
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sensor.objtype = mjOBJ_UNKNOWN;
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sensor.reftype = mjOBJ_UNKNOWN;
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sensor.cutoff = 0;
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sensor.noise = 0;
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sensor.dim = 0;
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}
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