Alessio Quaglino
fdb041580c
PiperOrigin-RevId: 557507088 Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
62 lines
1.6 KiB
C++
62 lines
1.6 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_SDF_SDF_H_
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#define MUJOCO_PLUGIN_SDF_SDF_H_
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#include <vector>
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#include <mujoco/mujoco.h>
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namespace mujoco::plugin::sdf {
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inline mjtNum Union(mjtNum a, mjtNum b) {
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return mju_min(a, b);
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}
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inline mjtNum Intersection(mjtNum a, mjtNum b) {
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return mju_max(a, b);
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}
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inline mjtNum Subtraction(mjtNum a, mjtNum b) {
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return mju_max(a, -b);
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}
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inline mjtNum Fract(mjtNum x) {
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return x - floor(x);
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}
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// reads numeric attributes
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bool CheckAttr(const char* name, const mjModel* m, int instance);
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class SdfVisualizer {
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public:
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SdfVisualizer();
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void Visualize(const mjModel* m, const mjData* d, const mjvOption* opt,
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mjvScene* scn, int instance);
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void AddPoint(const mjtNum point[3]);
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void Reset();
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void Next(); // adds a new gradient descent trajectory to be visualized
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private:
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std::vector<mjtNum> points_; // query points
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std::vector<int> npoints_; // number of iterations from the starting point
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};
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} // namespace mujoco::plugin::sdf
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#endif // MUJOCO_PLUGIN_SDF_SDF_H_
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