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
90 lines
3.4 KiB
C
90 lines
3.4 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_INCLUDE_MJPLUGIN_H_
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#define MUJOCO_INCLUDE_MJPLUGIN_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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typedef enum mjtPluginTypeBit_ {
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mjPLUGIN_ACTUATOR = 1<<0,
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mjPLUGIN_SENSOR = 1<<1,
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mjPLUGIN_PASSIVE = 1<<2,
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} mjtPluginTypeBit;
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struct mjpPlugin_ {
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const char* name; // globally unique name identifying the plugin
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int nattribute; // number of configuration attributes
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const char* const* attributes; // name of configuration attributes
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int type; // bitfield of mjtPluginTypeBits specifying the plugin type
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int needstage; // an mjtStage enum value specifying the sensor computation stage
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// number of mjtNums needed to store the state of a plugin instance (required)
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int (*nstate)(const mjModel* m, int instance);
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// dimension of the specified sensor's output (required only for sensor plugins)
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int (*nsensordata)(const mjModel* m, int instance, int sensor_id);
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// called when a new mjData is being created (required), returns 0 on success or -1 on failure
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int (*init)(const mjModel* m, mjData* d, int instance);
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// called when an mjData is being freed (optional)
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void (*destroy)(mjData* d, int instance);
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// called when an mjData is being copied (optional)
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void (*copy)(mjData* dest, const mjModel* m, const mjData* src, int instance);
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// called when an mjData is being reset (required)
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void (*reset)(const mjModel* m, mjData* d, int instance);
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// called when the plugin needs to update its outputs (required)
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void (*compute)(const mjModel* m, mjData* d, int instance, int type);
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// called when time integration occurs (optional)
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void (*advance)(const mjModel* m, mjData* d, int instance);
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};
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typedef struct mjpPlugin_ mjpPlugin;
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#if defined(__has_attribute)
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#if __has_attribute(constructor)
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#define mjPLUGIN_DYNAMIC_LIBRARY_INIT \
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__attribute__((constructor)) static void _mjplugin_init(void)
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#endif
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#elif defined(_MSC_VER)
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#ifndef mjDLLMAIN
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#define mjDLLMAIN DllMain
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#endif
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// NOLINTBEGIN(runtime/int)
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#define mjPLUGIN_DYNAMIC_LIBRARY_INIT \
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static void _mjplugin_dllmain(void); \
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static int __stdcall mjDLLMAIN(void* hinst, unsigned long reason, void* reserved) { \
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if (reason == 1) { \
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_mjplugin_dllmain(); \
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} \
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return 1; \
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} \
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static void _mjplugin_dllmain(void)
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// NOLINTEND(runtime/int)
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#endif // defined(_MSC_VER)
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#endif // MUJOCO_INCLUDE_MJPLUGIN_H_
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