b36c611745
Fixes to touch_grid config parsing.
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PiperOrigin-RevId: 530561729
Change-Id: I67f6dfd137aa54ce2141e5d5c30b5b888665c4a2
2023-05-09 03:42:06 -07:00
e59720833e
Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes.
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PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
2023-05-02 08:01:10 -07:00
4d2bf636ea
Improve touch_grid sensor documentation.
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PiperOrigin-RevId: 528473107
Change-Id: I2fecc10667b1b94a4b2b32653685f0a6d9da4ba9
2023-05-01 08:01:52 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
a2a1ac9fc2
Pass mjvOption to plugin visualize callback.
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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
2023-04-21 08:44:20 -07:00
27742da9d7
Fix formatting in cable.cc
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PiperOrigin-RevId: 524846500
Change-Id: I4e07a68b443a78ea1c46812f64ecf99804b26020
2023-04-17 07:56:42 -07:00
01b84089dd
Document engine plugins.
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Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.
PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
2023-04-03 07:55:21 -07:00
5e989d18c3
Enable compiler errors for implicit switch case fallthroughs.
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Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
2023-02-10 03:49:00 -08:00
048bd43724
Fix various typos.
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PiperOrigin-RevId: 499888205
Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743
2023-01-05 08:29:49 -08:00
30b4309af9
Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags
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PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
2022-12-13 11:33:27 -08:00
b712e0757e
Define kNumEdges and kNumVerts constants in Solid plugin.
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PiperOrigin-RevId: 493587525
Change-Id: Ifa82211a4dfc3b288825b0961c48fc679aae204c
2022-12-07 06:30:40 -08:00
e4f1d584ad
Add control plugin API.
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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:49 -08:00
0d52feaa94
Add updateScene callback for plugins.
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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
2022-12-02 10:11:32 -08:00
b14d9bf75b
Fix duplicate symbols in plugin DLL.
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PiperOrigin-RevId: 491340247
Change-Id: If559d60371ad604b94b92efd01ed6de9ecf6f2b0
2022-11-28 07:39:01 -08:00
d0b1a97338
Deformable solid plugin for particles.
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Using coordinate-free formula equivalent to linear finite elements.
PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
9833f912c1
Renamed Elasticity to Cable and libcable to libelasticity for consistency.
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PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
2022-11-02 11:08:44 -07:00
95fe2fbc40
Add plugin support to Python bindings.
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PiperOrigin-RevId: 480675078
Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
2022-10-12 11:30:15 -07:00
e250ff0d5a
- Added passive forces plugins
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- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
2022-10-10 02:46:51 -07:00
Yuval Tassa