Alessio Quaglino
273c23038c
- Removed the explicit dependency on a plugin name. - Creation of particles from user-defined vertices (if a plugin is present). - Add skin support for an irregular mesh - Fixes #642 and #674. PiperOrigin-RevId: 561313771 Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
66 lines
1.9 KiB
C++
66 lines
1.9 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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#include "elasticity.h"
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#include <algorithm>
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#include <cctype>
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#include <cstdlib>
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#include <sstream>
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#include <string>
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#include <utility>
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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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void String2Vector(const std::string& txt, std::vector<int>& vec) {
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std::stringstream strm(txt);
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vec.clear();
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while (!strm.eof()) {
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int num;
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strm >> num;
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if (strm.fail()) {
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break;
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} else {
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vec.push_back(num);
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}
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}
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}
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bool CheckAttr(const char* name, const mjModel* m, int instance) {
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char* end;
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std::string value = mj_getPluginConfig(m, instance, name);
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value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
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strtod(value.c_str(), &end);
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return end == value.data() + value.size();
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}
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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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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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} // namespace mujoco::plugin::elasticity
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