Alessio Quaglino
4998e7b392
PiperOrigin-RevId: 676434954 Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
70 lines
2.3 KiB
C++
70 lines
2.3 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.
|
|
|
|
#ifndef MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
|
|
#define MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
|
|
|
|
#include <cstddef>
|
|
#include <functional>
|
|
#include <string>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#include <mujoco/mujoco.h>
|
|
|
|
namespace mujoco::plugin::elasticity {
|
|
|
|
struct PairHash
|
|
{
|
|
template <class T1, class T2>
|
|
std::size_t operator() (const std::pair<T1, T2>& pair) const {
|
|
return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
|
|
}
|
|
};
|
|
|
|
struct Stencil2D {
|
|
static constexpr int kNumEdges = 3;
|
|
static constexpr int kNumVerts = 3;
|
|
static constexpr int kNumFaces = 2;
|
|
static constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
|
|
static constexpr int face[kNumVerts][2] = {{1, 2}, {2, 0}, {0, 1}};
|
|
static constexpr int edge2face[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
|
|
int vertices[kNumVerts];
|
|
int edges[kNumEdges];
|
|
};
|
|
|
|
struct Stencil3D {
|
|
static constexpr int kNumEdges = 6;
|
|
static constexpr int kNumVerts = 4;
|
|
static constexpr int kNumFaces = 3;
|
|
static constexpr int edge[kNumEdges][2] = {{0, 1}, {1, 2}, {2, 0},
|
|
{2, 3}, {0, 3}, {1, 3}};
|
|
static constexpr int face[kNumVerts][3] = {{2, 1, 0}, {0, 1, 3},
|
|
{1, 2, 3}, {2, 0, 3}};
|
|
static constexpr int edge2face[kNumEdges][2] = {{2, 3}, {1, 3}, {2, 1},
|
|
{1, 0}, {0, 2}, {0, 3}};
|
|
int vertices[kNumVerts];
|
|
int edges[kNumEdges];
|
|
};
|
|
|
|
// copied from mjXUtil
|
|
void String2Vector(const std::string& txt, std::vector<int>& vec);
|
|
|
|
// reads numeric attributes
|
|
bool CheckAttr(const char* name, const mjModel* m, int instance);
|
|
|
|
} // namespace mujoco::plugin::elasticity
|
|
|
|
#endif // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
|