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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_writer.cc
+17 -4
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@@ -278,7 +278,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
}
// mesh geom
if (pgeom->type==mjGEOM_MESH) {
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
mjCMesh* pmesh = model->meshes[pgeom->meshid];
// write pos/quat if there is a difference
@@ -337,7 +337,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
if (pgeom->type==mjGEOM_HFIELD) {
WriteAttrTxt(elem, "hfield", pgeom->hfield);
}
if (pgeom->type==mjGEOM_MESH) {
if (pgeom->type==mjGEOM_MESH || pgeom->type==mjGEOM_SDF) {
WriteAttrTxt(elem, "mesh", pgeom->mesh);
}
@@ -347,6 +347,11 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
} else {
WriteVector(elem, "user", pgeom->userdata, def->geom.userdata);
}
// write plugin
if (pgeom->is_plugin) {
OnePlugin(InsertEnd(elem, "plugin"), pgeom);
}
}
@@ -807,6 +812,8 @@ void mjXWriter::Option(XMLElement* root) {
WriteAttrInt(section, "iterations", model->option.iterations, opt.iterations);
WriteAttrInt(section, "noslip_iterations", model->option.noslip_iterations, opt.noslip_iterations);
WriteAttrInt(section, "mpr_iterations", model->option.mpr_iterations, opt.mpr_iterations);
WriteAttrInt(section, "sdf_iterations", model->option.sdf_iterations, opt.sdf_iterations);
WriteAttrInt(section, "sdf_initpoints", model->option.sdf_initpoints, opt.sdf_initpoints);
// write disable/enable flags if any of them are set; invert while writing
if (model->option.disableflags || model->option.enableflags) {
@@ -1307,8 +1314,14 @@ void mjXWriter::Asset(XMLElement* root) {
for (int i=0; i<nmesh; i++) {
// create element and write
mjCMesh* pmesh = (mjCMesh*)model->GetObject(mjOBJ_MESH, i);
elem = InsertEnd(section, "mesh");
OneMesh(elem, pmesh, pmesh->def);
if (pmesh->is_plugin) {
elem = InsertEnd(section, "mesh");
WriteAttrTxt(elem, "name", pmesh->name);
OnePlugin(InsertEnd(elem, "plugin"), pmesh);
} else{
elem = InsertEnd(section, "mesh");
OneMesh(elem, pmesh, pmesh->def);
}
}
// write skins