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Allow orientation for user composite.

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PiperOrigin-RevId: 740909723
Change-Id: Id38a55114d4257a461bbced57d35d6bb42a2597d
This commit is contained in:
Alessio Quaglino
2025-03-26 14:43:55 -07:00
committed by Copybara-Service
parent 644b42bee3
commit e8c67ca586
6 changed files with 27 additions and 9 deletions
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doc/XMLreference.rst
+7 -2
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@@ -3003,8 +3003,13 @@ cable, which produces an inextensible chain of bodies connected with ball joints
.. _body-composite-offset:
:at:`offset`: :at-val:`real(3), "0 0 0"`
It specifies a 3D offset from the center of the parent body to the center of the grid of elements. The offset is
expressed in the local coordinate frame of the parent body.
It specifies a 3D offset from the center of the parent body to the center of the first body of the cable. The offset
is expressed in the local coordinate frame of the parent body.
.. _body-composite-quat:
:at:`quat`: :at-val:`real(4), "1 0 0 0"`
It specifies a quaternion that rotates the first body frame. The quaternion is expressed in the parent body frame.
.. _body-composite-vertex:
doc/XMLschema.rst
+2
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@@ -344,6 +344,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`vertex<body-composite-vertex>` | :ref:`initial<body-composite-initial>` | :ref:`curve<body-composite-curve>` | :ref:`size<body-composite-size>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`quat<body-composite-quat>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| composite |br| |_2| |L| | | .. table:: |
| :ref:`joint | \* | :class: mjcf-attributes |
doc/changelog.rst
+5
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@@ -11,6 +11,11 @@ Upcoming version (not yet released)
- The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
"true" to "false". This feature has proven to be counterintuitive for users.
General
^^^^^^^
- Add :ref:`orientation<body-composite-quat>` parameter to :ref:`composite<body-composite>`. Moreover, allow the
composite to be the direct child of a frame.
Bug fixes
^^^^^^^^^
- :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to
src/user/user_composite.cc
+8 -4
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@@ -52,6 +52,7 @@ mjCComposite::mjCComposite(void) {
type = mjCOMPTYPE_PARTICLE;
count[0] = count[1] = count[2] = 1;
mjuu_setvec(offset, 0, 0, 0);
mjuu_setvec(quat, 1, 0, 0, 0);
frame = nullptr;
// plugin variables
@@ -260,19 +261,20 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
// populate uservert if not specified
if (uservert.empty()) {
for (int ix=0; ix < count[0]; ix++) {
double v[3];
for (int k=0; k < 3; k++) {
switch (curve[k]) {
case mjCOMPSHAPE_LINE:
uservert.push_back(ix*size[0]/(count[0]-1));
v[k] = ix*size[0]/(count[0]-1);
break;
case mjCOMPSHAPE_COS:
uservert.push_back(size[1]*cos(mjPI*ix*size[2]/(count[0]-1)));
v[k] = size[1]*cos(mjPI*ix*size[2]/(count[0]-1));
break;
case mjCOMPSHAPE_SIN:
uservert.push_back(size[1]*sin(mjPI*ix*size[2]/(count[0]-1)));
v[k] = size[1]*sin(mjPI*ix*size[2]/(count[0]-1));
break;
case mjCOMPSHAPE_ZERO:
uservert.push_back(0);
v[k] = 0;
break;
default:
// SHOULD NOT OCCUR
@@ -280,6 +282,8 @@ bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int er
break;
}
}
mjuu_rotVecQuat(v, v, quat);
uservert.insert(uservert.end(), v, v+3);
}
}
src/user/user_composite.h
+2 -1
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@@ -73,7 +73,8 @@ class mjCComposite {
std::string prefix; // name prefix
mjtCompType type; // composite type
int count[3]; // geom count in each dimension
double offset[3]; // position offset for particle and grid
double offset[3]; // position offset
double quat[4]; // quaternion offset
// currently used only for cable
std::string initial; // root boundary type
src/xml/xml_native_reader.cc
+3 -2
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@@ -287,8 +287,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{"composite", "*", "8", "prefix", "type", "count", "offset",
"vertex", "initial", "curve", "size"},
{"composite", "*", "9", "prefix", "type", "count", "offset",
"vertex", "initial", "curve", "size", "quat"},
{"<"},
{"joint", "*", "17", "kind", "group", "stiffness", "damping", "armature",
"solreffix", "solimpfix", "type", "axis",
@@ -2402,6 +2402,7 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, mjsFrame* frame, c
}
ReadAttr(elem, "count", 3, comp.count, text, false, false);
ReadAttr(elem, "offset", 3, comp.offset, text);
ReadAttr(elem, "quat", 4, comp.quat, text);
comp.frame = frame;
// plugin