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Add vertcollide option for adding spheres at flex vertices.

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PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
This commit is contained in:
Alessio Quaglino
2025-05-12 09:12:44 -07:00
committed by Copybara-Service
parent 09bf5409ab
commit d77126dc58
8 changed files with 1480 additions and 11 deletions
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src/xml/xml_native_reader.cc
+10 -4
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@@ -311,9 +311,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"edge", "?", "5", "equality", "solref", "solimp", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
{"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
"internal", "selfcollide", "activelayers", "vertcollide"},
{"pin", "*", "4", "id", "range", "grid", "gridrange"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
@@ -327,9 +327,9 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"flex", "*", "13", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord", "elemtexcoord", "node"},
{"<"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
{"contact", "?", "14", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
"internal", "selfcollide", "activelayers"},
"internal", "selfcollide", "activelayers", "vertcollide"},
{"edge", "?", "2", "stiffness", "damping"},
{"elasticity", "?", "4", "young", "poisson", "damping", "thickness"},
{">"},
@@ -1380,6 +1380,9 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
flex->internal = (n == 1);
}
MapValue(cont, "selfcollide", &flex->selfcollide, flexself_map, 5);
if (MapValue(cont, "vertcollide", &flex->vertcollide, bool_map, 2)) {
flex->vertcollide = (n == 1);
}
ReadAttrInt(cont, "activelayers", &flex->activelayers);
}
@@ -2682,6 +2685,9 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
dflex.internal = (n == 1);
}
MapValue(cont, "selfcollide", &dflex.selfcollide, flexself_map, 5);
if (MapValue(cont, "vertcollide", &n, bool_map, 2)) {
dflex.vertcollide = (n == 1);
}
ReadAttrInt(cont, "activelayers", &dflex.activelayers);
}