Alessio Quaglino
508e581ba9
This change introduces an optimization for flexcomp objects defined by a mesh. It identifies grid cells that do not contain any mesh vertices and marks them as empty. Nodes that are exclusively part of empty cells are pinned, preventing them from moving. Stiffness computations are skipped for empty cells, reducing computational cost. The total mass is now distributed only among the non-pinned nodes. PiperOrigin-RevId: 902565735 Change-Id: Id0a9a685536d5e18a3e42124a25ab08ff3a918f2
156 lines
6.4 KiB
C
156 lines
6.4 KiB
C
// Copyright 2025 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_SRC_ENGINE_ENGINE_CORE_UTIL_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//-------------------------- model properties ------------------------------------------------------
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// determine type of friction cone
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MJAPI int mj_isPyramidal(const mjModel* m);
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// determine type of constraint Jacobian
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MJAPI int mj_isSparse(const mjModel* m);
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//-------------------------- sparse chains ---------------------------------------------------------
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// merge dof chains for two bodies
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int mj_mergeChain(const mjModel* m, int* chain, int b1, int b2, int flg_skipcommon);
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// merge dof chains for two simple bodies
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int mj_mergeChainSimple(const mjModel* m, int* chain, int b1, int b2);
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// get body chain
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int mj_bodyChain(const mjModel* m, int body, int* chain);
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//-------------------------- Jacobians -------------------------------------------------------------
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// compute 3/6-by-nv Jacobian of global point attached to given body
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MJAPI void mj_jac(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute body frame Jacobian
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MJAPI void mj_jacBody(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute body center-of-mass Jacobian
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MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int body);
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// compute subtree center-of-mass Jacobian
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MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body);
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// compute geom Jacobian
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MJAPI void mj_jacGeom(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int geom);
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// compute site Jacobian
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MJAPI void mj_jacSite(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, int site);
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// compute translation Jacobian of point, and rotation Jacobian of axis
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MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d,
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mjtNum* jacPoint, mjtNum* jacAxis,
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const mjtNum point[3], const mjtNum axis[3], int body);
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// compute 3/6-by-nv sparse Jacobian of global point attached to given body
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void mj_jacSparse(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
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int NV, const int* chain, int flg_skipcommon);
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// sparse Jacobian difference for simple body contacts
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void mj_jacSparseSimple(const mjModel* m, const mjData* d,
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mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point,
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int body, int flg_second, int NV, int start);
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// compute 3/6-by-NV sparse Jacobian time derivative of global point attached to given body
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MJAPI void mj_jacDotSparse(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body,
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int NV, const int* chain);
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// dense or sparse Jacobian difference for two body points: pos2 - pos1, global
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MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
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int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3],
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mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp,
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mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr,
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int issparse, int flg_skipcommon);
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// dense or sparse weighted sum of multiple body Jacobians at same point
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int mj_jacSum(const mjModel* m, mjData* d, int* chain,
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int n, const int* body, const mjtNum* weight,
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const mjtNum point[3], mjtNum* jac, int flg_rot);
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// compute 3/6-by-nv Jacobian time derivative of global point attached to given body
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MJAPI void mj_jacDot(const mjModel* m, const mjData* d,
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mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body);
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// compute subtree angular momentum matrix
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MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
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//-------------------------- coordinate transformation ---------------------------------------------
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// compute object 6D velocity in object-centered frame, world/local orientation
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MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// compute object 6D acceleration in object-centered frame, world/local orientation
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MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
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int objtype, int objid, mjtNum res[6], int flg_local);
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// map from body local to global Cartesian coordinates
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MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
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const mjtNum pos[3], const mjtNum quat[4],
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int body, mjtByte sameframe);
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//-------------------------- miscellaneous ---------------------------------------------------------
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// gather global node positions and velocities
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MJAPI void mju_flexGatherState(const mjModel* m, const mjData* d, int f, mjtNum* xpos, mjtNum* vel);
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// extract 6D force:torque for one contact, in contact frame
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MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
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// count the number of length limit violations for tendon i (0, 1 or 2)
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int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
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// return actuator damping contribution to joint or tendon
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MJAPI mjtNum mj_actuatorDamping(const mjModel* m, mjtObj type, int id, mjtNum poly[mjNPOLY]);
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// return actuator armature contribution to joint or tendon
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MJAPI mjtNum mj_actuatorArmature(const mjModel* m, mjtObj type, int id);
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// high-level warning function: count warnings in mjData, print only the first time
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MJAPI void mj_warning(mjData* d, int warning, int info);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_CORE_UTIL_H_
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