Alessio Quaglino
110ade1435
PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
97 lines
3.4 KiB
C++
97 lines
3.4 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_FLEXCOMP_H_
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#define MUJOCO_SRC_USER_USER_FLEXCOMP_H_
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#include <string>
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#include <vector>
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#include <mujoco/mujoco.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 _mjtFcompType {
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mjFCOMPTYPE_GRID = 0,
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mjFCOMPTYPE_BOX,
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mjFCOMPTYPE_CYLINDER,
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mjFCOMPTYPE_ELLIPSOID,
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mjFCOMPTYPE_MESH,
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mjFCOMPTYPE_GMSH,
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mjFCOMPTYPE_DIRECT,
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mjNFCOMPTYPES
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} mjtFcompType;
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class mjCFlexcomp {
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public:
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mjCFlexcomp(void);
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bool Make(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeGrid(char* error, int error_sz);
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bool MakeBox(char* error, int error_sz);
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bool MakeMesh(mjCModel* model, char* error, int error_sz);
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bool MakeGMSH(mjCModel* model, char* error, int error_sz);
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void LoadGMSH(mjCModel* model, mjResource* resource);
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int GridID(int ix, int iy);
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int GridID(int ix, int iy, int iz);
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int BoxID(int ix, int iy, int iz);
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void BoxProject(double* pos, int ix, int iy, int iz);
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// common properties set by user
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std::string name; // flex name
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mjtFcompType type; // flexcomp type
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int count[3]; // grid count in each dimension
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double spacing[3]; // spacing between grid elements
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double scale[3]; // scaling for mesh and direct
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double mass; // total mass of auto-generated bodies
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double inertiabox; // size of inertia box for each body
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bool equality; // create edge equality constraint
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std::string file; // mesh/gmsh file name
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// pin specifications
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std::vector<int> pinid; // ids of points to pin
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std::vector<int> pinrange; // range of ids to pin
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std::vector<int> pingrid; // grid coordinates to pin
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std::vector<int> pingridrange; // range of grid coordinates to pin
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// all other properties
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mjCDef def; // local copy, parsed parameters stored here
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// pose transform relative to parent body
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double pos[3]; // position
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double quat[4]; // orientation
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mjCAlternative alt; // alternative orientation
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// set by user or computed internally
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bool rigid; // all vertices are in parent body (all pinned)
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bool centered; // all vertex coordinates are (0,0,0) (nothing pinned)
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std::vector<mjtNum> point; // flex bodies/vertices
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std::vector<bool> pinned; // is point pinned (true: no new body)
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std::vector<bool> used; // is point used by any element (false: skip)
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std::vector<int> element; // flex elements
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std::vector<float> texcoord; // vertex texture coordinates
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// plugin support
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bool is_plugin;
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std::string plugin_name;
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std::string plugin_instance_name;
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mjCPlugin* plugin_instance;
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};
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#endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
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