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Add Signed Distance Field to collision geometries.

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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
2023-08-16 09:14:29 -07:00
committed by Copybara-Service
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
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src/xml/xml_native_reader.cc
+32 -5
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@@ -80,7 +80,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 191;
static const int nMJCF = 203;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -95,12 +95,13 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"inttotal", "interval", "tolrange"},
{">"},
{"option", "*", "22",
{"option", "*", "24",
"timestep", "apirate", "impratio", "tolerance", "noslip_tolerance", "mpr_tolerance",
"gravity", "wind", "magnetic", "density", "viscosity",
"o_margin", "o_solref", "o_solimp",
"integrator", "collision", "cone", "jacobian",
"solver", "iterations", "noslip_iterations", "mpr_iterations"},
"solver", "iterations", "noslip_iterations", "mpr_iterations",
"sdf_iterations", "sdf_initpoints"},
{"<"},
{"flag", "?", "19", "constraint", "equality", "frictionloss", "limit", "contact",
"passive", "gravity", "clampctrl", "warmstart",
@@ -220,6 +221,12 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"hfield", "*", "6", "name", "content_type", "file", "nrow", "ncol", "size"},
{"mesh", "*", "12", "name", "class", "content_type", "file", "vertex", "normal",
"texcoord", "face", "refpos", "refquat", "scale", "smoothnormal"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"skin", "*", "9", "name", "file", "material", "rgba", "inflate",
"vertex", "texcoord", "face", "group"},
{"<"},
@@ -249,6 +256,12 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"shellinertia", "solmix", "solref", "solimp",
"margin", "gap", "fromto", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"<"},
{"plugin", "*", "2", "plugin", "instance"},
{"<"},
{"config", "*", "2", "key", "value"},
{">"},
{">"},
{"site", "*", "15", "name", "class", "type", "group", "pos", "quat",
"material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "13", "name", "class", "fovy", "ipd",
@@ -497,7 +510,8 @@ const mjMap geom_map[mjNGEOMTYPES] = {
{"ellipsoid", mjGEOM_ELLIPSOID},
{"cylinder", mjGEOM_CYLINDER},
{"box", mjGEOM_BOX},
{"mesh", mjGEOM_MESH}
{"mesh", mjGEOM_MESH},
{"sdf", mjGEOM_SDF}
};
@@ -964,6 +978,8 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
ReadAttrInt(section, "iterations", &opt->iterations);
ReadAttrInt(section, "noslip_iterations", &opt->noslip_iterations);
ReadAttrInt(section, "mpr_iterations", &opt->mpr_iterations);
ReadAttrInt(section, "sdf_iterations", &opt->sdf_iterations);
ReadAttrInt(section, "sdf_initpoints", &opt->sdf_initpoints);
// read disable sub-element
XMLElement* elem = FindSubElem(section, "flag");
@@ -1196,6 +1212,11 @@ void mjXReader::OneMesh(XMLElement* elem, mjCMesh* pmesh) {
pmesh->set_refquat(ReadAttrArr<double, 4>(elem, "refquat"));
pmesh->set_scale(ReadAttrArr<double, 3>(elem, "scale"));
XMLElement* eplugin = elem->FirstChildElement("plugin");
if (eplugin) {
OnePlugin(eplugin, pmesh);
}
if (MapValue(elem, "smoothnormal", &n, bool_map, 2)) {
pmesh->set_smoothnormal((n==1));
}
@@ -1382,6 +1403,12 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
// read userdata
ReadVector(elem, "user", pgeom->userdata, text);
// plugin sub-element
XMLElement* eplugin = elem->FirstChildElement("plugin");
if (eplugin) {
OnePlugin(eplugin, pgeom);
}
// remaining attributes
ReadAttr(elem, "mass", 1, &pgeom->_mass, text);
ReadAttr(elem, "density", 1, &pgeom->density, text);
@@ -2101,10 +2128,10 @@ void mjXReader::OnePlugin(XMLElement* elem, mjCBase* object) {
ReadAttrTxt(elem, "instance", object->plugin_instance_name);
if (object->plugin_instance_name.empty()) {
object->plugin_instance = model->AddPlugin();
ReadPluginConfigs(elem, object->plugin_instance);
} else {
model->hasImplicitPluginElem = true;
}
ReadPluginConfigs(elem, object->plugin_instance);
}