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
51 lines
1.6 KiB
C++
51 lines
1.6 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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// 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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// Cartesian distance between 3D vectors
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mjtNum SquaredDist3(const mjtNum pos1[3], const mjtNum pos2[3]);
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// updates square lengths of edges
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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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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
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