Alessio Quaglino
b81f1db8af
Temporary changes to the octree: - Changed frame from mesh to geom Before change (tolerance 1e-3): ``` Simulation time : 2.34 s Steps per second : 4275 Realtime factor : 8.55 x Time per step : 233.9 µs Newton iters / step : 2.26 Contacts / step : 3.69 Constraints / step : 14.76 Degrees of freedom : 12 Dynamic memory usage : 0.7% of 14M ``` After change (6 octree levels): ``` Simulation time : 2.24 s Steps per second : 4472 Realtime factor : 8.94 x Time per step : 223.6 µs Newton iters / step : 2.47 Contacts / step : 3.37 Constraints / step : 13.49 Degrees of freedom : 12 Dynamic memory usage : 0.2% of 14M ``` PiperOrigin-RevId: 781019754 Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
59 lines
1.8 KiB
C++
59 lines
1.8 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_SDFLIB_H_
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#define MUJOCO_PLUGIN_SDF_SDFLIB_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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#include <mujoco/mjvisualize.h>
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#include "sdf.h"
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#include <TriangleMeshDistance/include/tmd/TriangleMeshDistance.h>
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namespace mujoco::plugin::sdf {
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class SdfLib {
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public:
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// Creates a new SdfLib instance or returns null on failure.
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static std::optional<SdfLib> Create(const mjModel* m, mjData* d,
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int instance);
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SdfLib(SdfLib&&) = default;
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~SdfLib() = 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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private:
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SdfLib(const tmd::TriangleMeshDistance& sdf, const mjModel* m, int meshid);
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SdfVisualizer visualizer_;
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std::vector<double> sdf_coeff_;
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mjtNum box_[6];
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std::vector<mjtNum> oct_aabb_;
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std::vector<int> oct_child_;
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};
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} // namespace mujoco::plugin::sdf
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#endif // MUJOCO_PLUGIN_SDF_SDFLIB_H_
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