Alessio Quaglino
71bdd915f7
PiperOrigin-RevId: 758677644 Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
// Copyright 2023 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_SHELL_H_
|
|
#define MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
|
|
|
|
#include <optional>
|
|
#include <vector>
|
|
|
|
#include <mujoco/mjdata.h>
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mjtnum.h>
|
|
#include "elasticity.h"
|
|
|
|
|
|
namespace mujoco::plugin::elasticity {
|
|
|
|
struct StencilFlap {
|
|
static constexpr int kNumVerts = 4;
|
|
int vertices[kNumVerts];
|
|
};
|
|
|
|
class Shell {
|
|
public:
|
|
// Returns a new Shell instance or nullopt on failure.
|
|
static std::optional<Shell> Create(const mjModel* m, mjData* d,
|
|
int instance);
|
|
Shell(Shell&&) = default;
|
|
|
|
Shell& operator=(Shell&& other) = default;
|
|
|
|
void Compute(const mjModel* m, mjData* d, int instance);
|
|
|
|
static void RegisterPlugin();
|
|
|
|
int i0; // index of first body
|
|
int f0; // index of corresponding flex
|
|
int nc; // number of quads in the grid
|
|
int nv; // number of vertices (bodies) in the Shell
|
|
|
|
// precomputed quantities
|
|
std::vector<mjtNum> position; // previous-step positions (nv x 3)
|
|
|
|
private:
|
|
Shell(const mjModel* m, mjData* d, int instance);
|
|
};
|
|
|
|
} // namespace mujoco::plugin::elasticity
|
|
|
|
#endif // MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
|