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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_util_blas.h
+1 -1
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@@ -91,7 +91,7 @@ MJAPI void mju_addToScl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);
// res = vec1 + vec2*scl
MJAPI void mju_addScl3(mjtNum res[3], const mjtNum vec1[3], const mjtNum vec2[3], mjtNum scl);
// normalize vector, return length before normalization
// normalize vector, return length before normalization, set to [1, 0, 0] if norm is tiny
MJAPI mjtNum mju_normalize3(mjtNum vec[3]);
// compute vector length (without normalizing)