Alessio Quaglino
e250ff0d5a
- 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
53 lines
1.8 KiB
C++
53 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_SRC_PLUGIN_ELASTICITY_CABLE_H_
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#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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namespace mujoco::plugin::elasticity {
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class Elasticity {
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public:
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// Creates a new Elasticity instance (allocated with `new`) or
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// returns null on failure.
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static std::optional<Elasticity> Create(const mjModel* m, mjData* d,
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int instance);
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Elasticity(Elasticity&&) = default;
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~Elasticity() = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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int i0; // index of first body
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int n; // number of bodies in the cable
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std::vector<int> prev; // indices of previous bodies (n x 1)
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std::vector<int> next; // indices of next bodies (n x 1)
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std::vector<mjtNum> stiffness; // stiffness parameters (n x 4)
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std::vector<mjtNum> omega0; // reference curvature (n x 3)
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private:
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Elasticity(const mjModel* m, mjData* d, int instance);
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};
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
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