Commit Graph

21 Commits

Author SHA1 Message Date
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin.
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order.
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
2023-12-04 08:31:45 -08:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin.
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
2023-11-25 08:41:01 -08:00
Nimrod Gileadi f8c5ad2ba8 Check for errors when calling std::stod in XML loading.
PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
2023-10-25 12:26:43 -07:00
Alessio Quaglino d67b8c6251 Add membrane plugin (2D Flex elastic stiffness).
PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
2023-10-17 04:55:33 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp.
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
Nimrod Gileadi cd06629a92 Give the test fixture a local name in elasticity_test.
PiperOrigin-RevId: 571900967
Change-Id: Ie9bfea00dff1f9068f7fb3bf426dcbf6bfd6b4d2
2023-10-09 04:35:00 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin.
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
2023-09-20 09:00:20 -07:00
Alessio Quaglino 273c23038c MakeParticle and elasticity plugin refactoring.
- Removed the explicit dependency on a plugin name.
- Creation of particles from user-defined vertices (if a plugin is present).
- Add skin support for an irregular mesh
- Fixes #642 and #674.

PiperOrigin-RevId: 561313771
Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
2023-08-30 05:40:27 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries.
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
Alessio Quaglino 46e06c4cac Add elasticity plugins to xml_native_writer_test. Fixes #961.
PiperOrigin-RevId: 545454207
Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
2023-07-04 08:30:30 -07:00
Alessio Quaglino e59720833e Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes.
PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
2023-05-02 08:01:10 -07:00
Yuval Tassa b397b3123e Added touch grid sensor plugin.
PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
Saran Tunyasuvunakool db28c31f05 Rename <required> tag to <plugin>.
PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
Alessio Quaglino b712e0757e Define kNumEdges and kNumVerts constants in Solid plugin.
PiperOrigin-RevId: 493587525
Change-Id: Ifa82211a4dfc3b288825b0961c48fc679aae204c
2022-12-07 06:30:40 -08:00
Alessio Quaglino d0b1a97338 Deformable solid plugin for particles.
Using coordinate-free formula equivalent to linear finite elements.

PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
Alessio Quaglino 043ed273a7 Automated g4 rollback of changelist 489207765.
*** Reason for rollback ***

Corrected logic in CMake

*** Original change description ***

Automated g4 rollback of changelist 489183597.

*** Reason for rollback ***

GitHub path is different

*** Original change description ***

Activate plugin tests on Windows.

***

***

PiperOrigin-RevId: 489228199
Change-Id: Ic0ee9114e9680fc0aef9f668fc172c73fe74cd38
2022-11-17 09:15:40 -08:00
Alessio Quaglino 17c82e2f02 Automated g4 rollback of changelist 489183597.
*** Reason for rollback ***

GitHub path is different

*** Original change description ***

Activate plugin tests on Windows.

***

PiperOrigin-RevId: 489207765
Change-Id: If48dede94c8623b92526375a567edcd49c548e63
2022-11-17 07:38:49 -08:00
Alessio Quaglino a9781d9bea Activate plugin tests on Windows.
PiperOrigin-RevId: 489183597
Change-Id: I1e5212777514fbc5a246f02a4446a9dbb8a0dbd3
2022-11-17 05:06:00 -08:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency.
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
2022-11-02 11:08:44 -07:00
Alessio Quaglino e250ff0d5a - Added passive forces plugins
- 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