Alessio Quaglino
d67b8c6251
PiperOrigin-RevId: 574109411 Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
110 lines
3.4 KiB
C++
110 lines
3.4 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#include "elasticity.h"
|
|
#include <algorithm>
|
|
#include <cassert>
|
|
#include <cctype>
|
|
#include <cstdlib>
|
|
#include <sstream>
|
|
#include <string>
|
|
#include <utility>
|
|
#include <vector>
|
|
#include <unordered_map>
|
|
#include <mujoco/mujoco.h>
|
|
|
|
namespace mujoco::plugin::elasticity {
|
|
|
|
template <typename T>
|
|
int CreateStencils(std::vector<T>& elements,
|
|
std::vector<std::pair<int, int>>& edges,
|
|
const std::vector<int>& simplex,
|
|
const std::vector<int>& edgeidx) {
|
|
int ne = 0;
|
|
int nt = simplex.size() / T::kNumVerts;
|
|
elements.resize(nt);
|
|
for (int t = 0; t < nt; t++) {
|
|
for (int v = 0; v < T::kNumVerts; v++) {
|
|
elements[t].vertices[v] = simplex[T::kNumVerts*t+v];
|
|
}
|
|
}
|
|
|
|
// map from edge vertices to their index in `edges` vector
|
|
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
|
|
|
|
// loop over all tetrahedra
|
|
for (int t = 0; t < nt; t++) {
|
|
int* v = elements[t].vertices;
|
|
|
|
// compute edges to vertices map for fast computations
|
|
for (int e = 0; e < T::kNumEdges; e++) {
|
|
auto pair = std::pair(
|
|
std::min(v[T::edge[e][0]], v[T::edge[e][1]]),
|
|
std::max(v[T::edge[e][0]], v[T::edge[e][1]])
|
|
);
|
|
|
|
// if edge is already present in the vector only store its index
|
|
auto [it, inserted] = edge_indices.insert({pair, ne});
|
|
|
|
if (inserted) {
|
|
edges.push_back(pair);
|
|
elements[t].edges[e] = ne++;
|
|
} else {
|
|
elements[t].edges[e] = it->second;
|
|
}
|
|
|
|
if (!edgeidx.empty()) {
|
|
assert(elements[t].edges[e] == edgeidx[T::kNumEdges*t+e]);
|
|
}
|
|
}
|
|
}
|
|
|
|
return nt;
|
|
}
|
|
|
|
template int CreateStencils<Stencil2D>(std::vector<Stencil2D>& elements,
|
|
std::vector<std::pair<int, int>>& edges,
|
|
const std::vector<int>& simplex,
|
|
const std::vector<int>& edgeidx);
|
|
|
|
template int CreateStencils<Stencil3D>(std::vector<Stencil3D>& elements,
|
|
std::vector<std::pair<int, int>>& edges,
|
|
const std::vector<int>& simplex,
|
|
const std::vector<int>& edgeidx);
|
|
|
|
void String2Vector(const std::string& txt, std::vector<int>& vec) {
|
|
std::stringstream strm(txt);
|
|
vec.clear();
|
|
|
|
while (!strm.eof()) {
|
|
int num;
|
|
strm >> num;
|
|
if (strm.fail()) {
|
|
break;
|
|
} else {
|
|
vec.push_back(num);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool CheckAttr(const char* name, const mjModel* m, int instance) {
|
|
char* end;
|
|
std::string value = mj_getPluginConfig(m, instance, name);
|
|
value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
|
|
strtod(value.c_str(), &end);
|
|
return end == value.data() + value.size();
|
|
}
|
|
|
|
} // namespace mujoco::plugin::elasticity
|