Alessio Quaglino
40d927c9fa
Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`. Make `Membrane` backward compatible with `Composite`. PiperOrigin-RevId: 577190384 Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
112 lines
3.5 KiB
C++
112 lines
3.5 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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#include "elasticity.h"
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#include <algorithm>
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#include <cassert>
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#include <cctype>
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#include <cstdlib>
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#include <sstream>
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#include <string>
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#include <utility>
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#include <vector>
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#include <unordered_map>
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#include <mujoco/mujoco.h>
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namespace mujoco::plugin::elasticity {
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template <typename T>
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int CreateStencils(std::vector<T>& elements,
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std::vector<std::pair<int, int>>& edges,
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const std::vector<int>& simplex,
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const std::vector<int>& edgeidx) {
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int ne = 0;
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int nt = simplex.size() / T::kNumVerts;
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elements.resize(nt);
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for (int t = 0; t < nt; t++) {
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for (int v = 0; v < T::kNumVerts; v++) {
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elements[t].vertices[v] = simplex[T::kNumVerts*t+v];
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}
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}
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// map from edge vertices to their index in `edges` vector
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std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
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// loop over all tetrahedra
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for (int t = 0; t < nt; t++) {
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int* v = elements[t].vertices;
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// compute edges to vertices map for fast computations
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for (int e = 0; e < T::kNumEdges; e++) {
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auto pair = std::pair(
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std::min(v[T::edge[e][0]], v[T::edge[e][1]]),
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std::max(v[T::edge[e][0]], v[T::edge[e][1]])
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);
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// if edge is already present in the vector only store its index
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auto [it, inserted] = edge_indices.insert({pair, ne});
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if (inserted) {
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edges.push_back(pair);
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elements[t].edges[e] = ne++;
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} else {
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elements[t].edges[e] = it->second;
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}
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if (!edgeidx.empty()) { // SHOULD NOT OCCUR
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if (elements[t].edges[e] != edgeidx[T::kNumEdges*t+e]) {
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mju_error("edge ordering is incoherent between flex and plugin");
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}
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}
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}
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}
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return nt;
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}
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template int CreateStencils<Stencil2D>(std::vector<Stencil2D>& elements,
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std::vector<std::pair<int, int>>& edges,
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const std::vector<int>& simplex,
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const std::vector<int>& edgeidx);
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template int CreateStencils<Stencil3D>(std::vector<Stencil3D>& elements,
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std::vector<std::pair<int, int>>& edges,
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const std::vector<int>& simplex,
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const std::vector<int>& edgeidx);
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void String2Vector(const std::string& txt, std::vector<int>& vec) {
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std::stringstream strm(txt);
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vec.clear();
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while (!strm.eof()) {
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int num;
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strm >> num;
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if (strm.fail()) {
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break;
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} else {
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vec.push_back(num);
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}
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}
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}
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bool CheckAttr(const char* name, const mjModel* m, int instance) {
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char* end;
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std::string value = mj_getPluginConfig(m, instance, name);
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value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end());
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strtod(value.c_str(), &end);
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return end == value.data() + value.size();
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}
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} // namespace mujoco::plugin::elasticity
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