Alessio Quaglino
b712e0757e
PiperOrigin-RevId: 493587525 Change-Id: Ifa82211a4dfc3b288825b0961c48fc679aae204c
75 lines
2.4 KiB
C++
75 lines
2.4 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_PLUGIN_ELASTICITY_SOLID_H_
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#define MUJOCO_PLUGIN_ELASTICITY_SOLID_H_
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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namespace mujoco::plugin::elasticity {
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struct Stencil3D {
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static constexpr int kNumEdges = 6;
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static constexpr int kNumVerts = 4;
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int vertices[kNumVerts];
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int edges[kNumEdges];
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};
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class Solid {
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public:
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// Returns a new Solid instance or nullopt on failure.
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static std::optional<Solid> Create(const mjModel* m, mjData* d, int instance);
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Solid(Solid&&) = default;
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Solid& operator=(Solid&& other) = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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static void RegisterPlugin();
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int i0; // index of first body
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int nc; // number of cubes in the grid
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int nv; // number of vertices (bodies) in the solid
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int nt; // number of volumetric elements (tetrahedra)
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int ne; // number of edges in the solid
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// connectivity info for mapping tetrahedra to edges and vertices
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std::vector<Stencil3D> elements; // 4 vertices and 6 edges (nt x 10)
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std::vector<std::pair<int, int> > edges; // edge to vertex map (ne x 2)
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// precomputed quantities
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std::vector<mjtNum> metric; // geom-induced metric (nt x 36)
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std::vector<mjtNum> reference; // reference lengths (ne x 1)
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std::vector<mjtNum> deformed; // deformed lengths (ne x 1)
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std::vector<mjtNum> previous; // previous-step lengths (ne x 1)
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mjtNum damping;
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private:
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Solid(const mjModel* m, mjData* d, int instance, int nx, int ny, int nz,
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mjtNum nu, mjtNum E, mjtNum damp);
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void CreateStencils(int nx, int ny, int nz);
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};
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_PLUGIN_ELASTICITY_SOLID_H_
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