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Derivatives of ellipsoid fluid model.

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PiperOrigin-RevId: 459751881
Change-Id: I52db87d82e20e10698b13065df2e983b9841bd7a
This commit is contained in:
Yuval Tassa
2022-07-08 07:19:10 -07:00
committed by Copybara-Service
parent 7034851d0a
commit ea956dfe34
10 changed files with 784 additions and 309 deletions
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src/xml/xml_base.h
+1
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@@ -46,6 +46,7 @@ extern const mjMap coordinate_map[];
extern const mjMap angle_map[];
extern const mjMap enable_map[];
extern const mjMap bool_map[];
extern const mjMap fluid_map[];
extern const mjMap TFAuto_map[];
extern const mjMap joint_map[];
extern const mjMap geom_map[];
src/xml/xml_native_reader.cc
+1 -1
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@@ -379,7 +379,7 @@ const mjMap bool_map[2] = {
};
// bool type
// fluidshape type
const mjMap fluid_map[2] = {
{"none", 0},
{"ellipsoid", 1}
src/xml/xml_native_writer.cc
+2
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@@ -290,6 +290,8 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "margin", 1, &pgeom->margin, &def->geom.margin);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_switch, def->geom.fluid_switch);
WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->geom.fluid_coefs);
if (mjuu_defined(pgeom->_mass)) {
double mass = pgeom->GetVolume() * def->geom.density;
WriteAttr(elem, "mass", 1, &pgeom->mass, &mass);