Yuval Tassa
2810edd27a
PiperOrigin-RevId: 919020039 Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
65 lines
1.9 KiB
C++
65 lines
1.9 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_NUT_H_
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#define MUJOCO_PLUGIN_SDF_NUT_H_
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#include <optional>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtype.h>
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#include <mujoco/mjvisualize.h>
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#include "sdf.h"
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namespace mujoco::plugin::sdf {
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// this plugin implements a modification of the signed distance function
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// from https://www.shadertoy.com/view/XtffzX of hexagonal nut
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struct NutAttribute {
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static constexpr int nattribute = 1;
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static constexpr char const* names[nattribute] = {"radius"};
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static constexpr mjtNum defaults[nattribute] = {0.26};
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};
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class Nut {
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public:
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// Creates a new Nut instance (allocated with `new`) or
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// returns null on failure.
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static std::optional<Nut> Create(const mjModel* m, mjData* d, int instance);
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Nut(Nut&&) = default;
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~Nut() = default;
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void Reset();
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void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
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mjvScene* scn, int instance);
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void Compute(const mjModel* m, mjData* d, int instance);
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mjtNum Distance(const mjtNum point[3]) const;
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void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
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static void RegisterPlugin();
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mjtNum attribute[NutAttribute::nattribute];
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private:
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Nut(const mjModel* m, mjData* d, int instance);
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SdfVisualizer visualizer_;
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};
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} // namespace mujoco::plugin::sdf
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#endif // MUJOCO_PLUGIN_SDF_NUT_H_
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