This overload allows `StringToVector` to accept a `char*` argument when parsing into a `std::vector<std::string>`, by converting the `char*` to `std::string` before processing.
PiperOrigin-RevId: 902611443
Change-Id: I2048918f915c1bac74522f368ea28f23ca9a6885
This CL addresses link failures when building MuJoCo with GCC and Link Time Optimization (LTO) enabled:
- Declared the `StringToVector<std::string>(const std::string&)` specialization in `user_util.h` to prevent the compiler from incorrectly trying to instantiate the general template.
- Added an explicit instantiation for `StringToVector<unsigned char>(char*)` in `user_util.cc` to provide the definition needed by its `const std::string&` counterpart.
PiperOrigin-RevId: 902557141
Change-Id: I27b585cf1deb276d4150a5cbe6cf7e59c323a20a
This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.
PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
- 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
Yuval Tassa