Alessio Quaglino
0fcd20f0da
Replaced it with flexcomp in the models. PiperOrigin-RevId: 730070619 Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
133 lines
4.1 KiB
C++
133 lines
4.1 KiB
C++
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_USER_USER_COMPOSITE_H_
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#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
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#include <string>
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#include <unordered_map>
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#include <vector>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjspec.h>
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#include "user/user_model.h"
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#include "user/user_objects.h"
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typedef enum _mjtCompType {
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mjCOMPTYPE_PARTICLE = 0,
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mjCOMPTYPE_GRID,
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mjCOMPTYPE_CABLE,
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mjCOMPTYPE_ROPE,
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mjCOMPTYPE_LOOP,
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mjCOMPTYPE_CLOTH,
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mjNCOMPTYPES
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} mjtCompType;
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typedef enum _mjtCompKind {
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mjCOMPKIND_JOINT = 0,
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mjCOMPKIND_TWIST,
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mjCOMPKIND_STRETCH,
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mjCOMPKIND_TENDON,
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mjCOMPKIND_SHEAR,
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mjCOMPKIND_PARTICLE,
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mjNCOMPKINDS
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} mjtCompKind;
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typedef enum _mjtCompShape {
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mjCOMPSHAPE_LINE = 0,
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mjCOMPSHAPE_COS,
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mjCOMPSHAPE_SIN,
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mjCOMPSHAPE_ZERO,
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mjNCOMPSHAPES
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} mjtCompShape;
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class mjCComposite {
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public:
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mjCComposite(void);
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void SetDefault(void);
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bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
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bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
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bool MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz);
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bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
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void MakeSkin2(mjCModel* model, mjtNum inflate);
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void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
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void MakeClothBones(mjCModel* model, mjsSkin* skin);
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void MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin);
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void MakeCableBones(mjCModel* model, mjsSkin* skin);
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void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
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// common properties
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std::string prefix; // name prefix
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mjtCompType type; // composite type
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int count[3]; // geom count in each dimension
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double spacing; // spacing between elements
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double offset[3]; // position offset for particle and grid
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double flatinertia; // flatten ineria of cloth elements; 0: disable
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// currently used only for cable
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std::string initial; // root boundary type
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std::vector<float> uservert; // user-specified vertex positions
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double size[3]; // rope size (meaning depends on the shape)
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mjtCompShape curve[3]; // geometric shape
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// body names used in the skin
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std::vector<std::string> username;
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// plugin support
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std::string plugin_name;
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std::string plugin_instance_name;
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mjsPlugin plugin;
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// skin
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bool skin; // generate skin
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bool skintexcoord; // generate texture coordinates
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std::string skinmaterial; // skin material
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float skinrgba[4]; // skin rgba
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float skininflate; // inflate skin
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int skinsubgrid; // number of skin subgrid points; 0: none (2D only)
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int skingroup; // skin group of the composite object
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// element options
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bool add[mjNCOMPKINDS]; // add element
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mjCDef def[mjNCOMPKINDS]; // default geom, site, tendon
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std::unordered_map<mjtCompKind, std::vector<mjCDef> > defjoint; // default joints
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// computed internally
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int dim; // dimensionality
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private:
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mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]);
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// temporary skin vectors
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void CopyIntoSkin(mjsSkin* skin);
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std::vector<int> face;
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std::vector<float> vert;
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std::vector<float> bindpos;
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std::vector<float> bindquat;
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std::vector<float> texcoord;
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std::vector<std::vector<int>> vertid;
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std::vector<std::vector<float>> vertweight;
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};
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#endif // MUJOCO_SRC_USER_USER_COMPOSITE_H_
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