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- Added passive forces plugins

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- Added new `cable` composite type:
  * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
  * The boundary bodies are exposed with the names:`B_left` and `B_right`.
  * The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
  * The orientation of the body frame **is** the orientation of the material frame of the curve.

- Added new `cable` passive force plugin:
  * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
  * The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
  * New cable example showing the formation of plectoneme.
  * New coil example.
  * New belt example showing interaction between twist and anisotropy.
  * Added test using cantilever exact solution.

PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
This commit is contained in:
Alessio Quaglino
2022-10-10 02:45:59 -07:00
committed by Copybara-Service
parent 794ef0b771
commit e250ff0d5a
34 changed files with 1564 additions and 72 deletions
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src/engine/engine_io.c
+11 -7
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@@ -875,10 +875,14 @@ static mjData* _makeData(const mjModel* m) {
for (int i = 0; i < m->nplugin; ++i) {
d->plugin[i] = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
if (!plugin->init) {
mju_error_i("`init` is a null function pointer for plugin at slot %d", m->plugin[i]);
if (plugin->init) {
if (plugin->init(m, d, i) < 0) {
mju_free(d->buffer);
mju_free(d->arena);
mju_free(d);
mju_error_i("plugin->init failed for plugin id %d", i);
}
}
plugin->init(m, d, i);
}
return d;
@@ -1142,10 +1146,9 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
for (int i = 0; i < m->nplugin; ++i) {
d->plugin[i] = m->plugin[i];
const mjpPlugin* plugin = mjp_getPluginAtSlot(m->plugin[i]);
if (!plugin->reset) {
mju_error_i("`reset` is a null function pointer for plugin at slot %d", m->plugin[i]);
if (plugin->reset) {
plugin->reset(m, d, i);
}
plugin->reset(m, d, i);
}
}
@@ -1333,6 +1336,7 @@ const char* mj_validateReferences(const mjModel* m) {
X(body_jntadr, nbody, njnt , m->body_jntnum ) \
X(body_dofadr, nbody, nv , m->body_dofnum ) \
X(body_geomadr, nbody, ngeom , m->body_geomnum ) \
X(body_plugin, nbody, nplugin , 0 ) \
X(jnt_qposadr, njnt, nq , 0 ) \
X(jnt_dofadr, njnt, nv , 0 ) \
X(jnt_bodyid, njnt, nbody , 0 ) \
@@ -1364,7 +1368,7 @@ const char* mj_validateReferences(const mjModel* m) {
X(pair_geom2, npair, ngeom , 0 ) \
X(actuator_plugin, nu, nplugin , 0 ) \
X(sensor_plugin, nsensor, nplugin , 0 ) \
X(plugin_stateadr, nplugin, npluginstate , 0 ) \
X(plugin_stateadr, nplugin, npluginstate , m->plugin_statenum ) \
X(plugin_attradr, nplugin, npluginattr , 0 ) \
X(tendon_adr, ntendon, nwrap , m->tendon_num ) \
X(tendon_matid, ntendon, nmat , 0 ) \