Alessio Quaglino
5c5449bf82
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes. - To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future. - Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported. PiperOrigin-RevId: 464368395 Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
98 lines
2.9 KiB
C++
98 lines
2.9 KiB
C++
// Copyright 2021 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_XML_XML_BASE_H_
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#define MUJOCO_SRC_XML_XML_BASE_H_
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#include <string>
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#include "tinyxml2.h"
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#include <mujoco/mjmodel.h>
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#include "user/user_model.h"
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#include "user/user_objects.h"
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#include "xml/xml_util.h"
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// keyword maps (defined in implementation files)
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extern const int joint_sz;
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extern const int camlight_sz;
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extern const int light_sz;
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extern const int integrator_sz;
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extern const int collision_sz;
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extern const int cone_sz;
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extern const int jac_sz;
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extern const int solver_sz;
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extern const int equality_sz;
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extern const int texture_sz;
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extern const int builtin_sz;
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extern const int mark_sz;
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extern const int dyn_sz;
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extern const int gain_sz;
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extern const int bias_sz;
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extern const int stage_sz;
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extern const int datatype_sz;
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extern const mjMap coordinate_map[];
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extern const mjMap angle_map[];
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extern const mjMap enable_map[];
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extern const mjMap bool_map[];
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extern const mjMap fluid_map[];
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extern const mjMap TFAuto_map[];
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extern const mjMap joint_map[];
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extern const mjMap geom_map[];
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extern const mjMap camlight_map[];
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extern const mjMap light_map[];
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extern const mjMap integrator_map[];
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extern const mjMap collision_map[];
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extern const mjMap impedance_map[];
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extern const mjMap reference_map[];
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extern const mjMap cone_map[];
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extern const mjMap jac_map[];
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extern const mjMap solver_map[];
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extern const mjMap equality_map[];
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extern const mjMap texture_map[];
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extern const mjMap builtin_map[];
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extern const mjMap mark_map[];
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extern const mjMap dyn_map[];
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extern const mjMap gain_map[];
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extern const mjMap bias_map[];
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extern const mjMap stage_map[];
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extern const mjMap datatype_map[];
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extern const mjMap meshtype_map[];
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//---------------------------------- Base XML class ------------------------------------------------
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class mjXBase : public mjXUtil {
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public:
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mjXBase();
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virtual ~mjXBase() = default;
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// parse: implemented in derived parser classes
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virtual void Parse(tinyxml2::XMLElement* root) {};
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// write: implemented in derived writer class
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virtual void Write(FILE* fp) {};
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// set the model allocated externally
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void SetModel(mjCModel*);
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// read alternative orientation specification
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static void ReadAlternative(tinyxml2::XMLElement* elem, mjCAlternative& alt);
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protected:
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mjCModel* model; // internally-allocated mjCModel object
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};
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#endif // MUJOCO_SRC_XML_XML_BASE_H_
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