Alessio Quaglino
110ade1435
PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
// Copyright 2022 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_PLUGIN_ELASTICITY_ELASTICITY_H_
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#define MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
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#include <sstream>
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#include <string>
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#include <vector>
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#include <mujoco/mujoco.h>
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namespace mujoco::plugin::elasticity {
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struct PairHash
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{
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template <class T1, class T2>
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std::size_t operator() (const std::pair<T1, T2>& pair) const {
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return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
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}
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};
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inline mjtNum SquaredDist3(const mjtNum pos1[3], const mjtNum pos2[3]) {
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mjtNum dif[3] = {pos1[0]-pos2[0], pos1[1]-pos2[1], pos1[2]-pos2[2]};
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return dif[0]*dif[0] + dif[1]*dif[1] + dif[2]*dif[2];
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}
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inline void UpdateSquaredLengths(std::vector<mjtNum>& len,
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const std::vector<std::pair<int, int> >& edges,
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const mjtNum* x) {
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for (int e = 0; e < len.size(); e++) {
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const mjtNum* p0 = x + 3*edges[e].first;
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const mjtNum* p1 = x + 3*edges[e].second;
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len[e] = SquaredDist3(p0, p1);
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}
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}
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// copied from mjXUtil
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void String2Vector(const std::string& txt, std::vector<int>& vec);
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// reads numeric attributes
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bool CheckAttr(const char* name, const mjModel* m, int instance);
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
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