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Add mjmJoint, mjmCamera, and mjmLight to C API.

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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
This commit is contained in:
Alessio Quaglino
2024-02-09 04:44:04 -08:00
committed by Copybara-Service
parent e77c3cb258
commit e3cbad280c
12 changed files with 506 additions and 282 deletions
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src/user/user_composite.cc
+28 -28
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@@ -116,7 +116,7 @@ bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
return false;
} else {
mjCDef jnt;
jnt.joint.group = 3;
jnt.joint.spec.group = 3;
defjoint[(mjtCompKind)i].push_back(jnt);
}
}
@@ -457,8 +457,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// add slider joints if none defined
if (!add[mjCOMPKIND_PARTICLE]) {
for (int i=0; i<3; i++) {
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
@@ -469,8 +469,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
// add user-specified joints
else {
for (auto defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(b, &defjnt);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(b, &defjnt);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
}
}
@@ -626,12 +626,12 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
}
// add slider joint
mjCJoint* jnt[3];
mjmJoint* jnt[3];
for (int i=0; i<3; i++) {
jnt[i] = (mjCJoint*)mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
jnt[i]->def = (mjCDef*)mjm_getDefault(body->element);
jnt[i] = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
mjm_setDefault(jnt[i]->element, mjm_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
jnt[i]->name = txt;
mjm_setString(jnt[i]->name, txt);
jnt[i]->type = mjJNT_SLIDE;
mjuu_setvec(jnt[i]->pos, 0, 0, 0);
mjuu_setvec(jnt[i]->axis, 0, 0, 0);
@@ -853,13 +853,13 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
// add curvature joint
if (!first || strcmp(initial.c_str(), "none")) {
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
jnt->name = this_joint;
mjm_setString(jnt->name, this_joint);
}
// exclude contact pair
@@ -997,10 +997,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
// add main joint
for (int i=0; i<2; i++) {
// add joint
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d", prefix.c_str(), i, ix1);
jnt->name = txt;
mjm_setString(jnt->name, txt);
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
@@ -1010,10 +1010,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
// add twist joint
if (add[mjCOMPKIND_TWIST]) {
// add joint
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mju::sprintf_arr(txt, "%sJT%d", prefix.c_str(), ix1);
jnt->name = txt;
mjm_setString(jnt->name, txt);
jnt->type = mjJNT_HINGE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 1, 0, 0);
@@ -1022,16 +1022,16 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_TWIST);
eq->def = model->defaults[0];
eq->type = mjEQ_JOINT;
eq->name1 = jnt->name;
eq->name1 = mjm_getString(jnt->name);
}
// add stretch joint
if (add[mjCOMPKIND_STRETCH]) {
// add joint
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mju::sprintf_arr(txt, "%sJS%d", prefix.c_str(), ix1);
jnt->name = txt;
mjm_setString(jnt->name, txt);
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
mjuu_setvec(jnt->axis, 1, 0, 0);
@@ -1040,7 +1040,7 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_STRETCH);
eq->def = model->defaults[0];
eq->type = mjEQ_JOINT;
eq->name1 = jnt->name;
eq->name1 = mjm_getString(jnt->name);
}
return body;
@@ -1149,10 +1149,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
}
// add slider joint
mjCJoint* jnt = (mjCJoint*)mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
jnt->def = (mjCDef*)mjm_getDefault(body->element);
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0]);
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), ix, iy, iz);
jnt->name = txt;
mjm_setString(jnt->name, txt);
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 1);
@@ -1161,10 +1161,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
mjCEquality* eq = model->AddEquality(def + mjCOMPKIND_JOINT);
eq->def = model->defaults[0];
eq->type = mjEQ_JOINT;
eq->name1 = jnt->name;
eq->name1 = mjm_getString(jnt->name);
// add joint to tendon
ten->WrapJoint(jnt->name, 1);
ten->WrapJoint(std::string(mjm_getString(jnt->name)), 1);
// add neighbor constraints
for (int i=0; i<3; i++) {