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Add inner radius as a parameter for the sdf gear plugin.

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PiperOrigin-RevId: 578789045
Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
This commit is contained in:
Google DeepMind
2023-11-02 03:01:34 -07:00
committed by Copybara-Service
parent 3c0a56c1e5
commit e6dc5ed176
2 changed files with 10 additions and 7 deletions
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plugin/sdf/gear.cc
+6 -3
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@@ -82,6 +82,9 @@ static mjtNum distance2D(const mjtNum p[3],
mjtNum h = 2.2 / Pd;
mjtNum innerR = Ro - h - 0.14*D;
if (attributes[4] >= 0.0) {
innerR = attributes[4] / 2.0;
}
// Early exit
if (innerR - rho > 0.0)
@@ -144,10 +147,10 @@ static mjtNum distance(const mjtNum p[3],
} // namespace
// factory function
std::optional<Gear> Gear::Create(
const mjModel* m, mjData* d, int instance) {
std::optional<Gear> Gear::Create(const mjModel* m, mjData* d, int instance) {
if (CheckAttr("alpha", m, instance) && CheckAttr("diameter", m, instance) &&
CheckAttr("teeth", m, instance)) {
CheckAttr("teeth", m, instance) &&
CheckAttr("innerdiameter", m, instance)) {
return Gear(m, d, instance);
} else {
mju_warning("Invalid parameter specification in Gear plugin");