Alessio Quaglino
d67b8c6251
PiperOrigin-RevId: 574109411 Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
// Copyright 2023 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_ELASTICITY_SHELL_H_
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#define MUJOCO_PLUGIN_ELASTICITY_SHELL_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 "elasticity.h"
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namespace mujoco::plugin::elasticity {
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struct StencilFlap {
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static constexpr int kNumVerts = 4;
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int vertices[kNumVerts];
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};
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class Shell {
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public:
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// Returns a new Shell instance or nullopt on failure.
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static std::optional<Shell> Create(const mjModel* m, mjData* d,
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int instance);
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Shell(Shell&&) = default;
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Shell& operator=(Shell&& other) = default;
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void Compute(const mjModel* m, mjData* d, int instance);
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static void RegisterPlugin();
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int i0; // index of first body
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int nc; // number of quads in the grid
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int nv; // number of vertices (bodies) in the Shell
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int nt; // number of area elements (triangles)
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int ne; // number of edges in the Shell
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// connectivity info for mapping tetrahedra to edges and vertices
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std::vector<Stencil2D> elements; // triangles (nt x 6)
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std::vector<StencilFlap> flaps; // adjacent triangles (ne x 4)
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// precomputed quantities
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std::vector<mjtNum> position; // previous-step positions (nv x 3)
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std::vector<mjtNum> bending; // bending Hessian (ne x 16)
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mjtNum thickness;
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private:
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Shell(const mjModel* m, mjData* d, int instance, mjtNum nu, mjtNum E,
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mjtNum thick, const std::vector<int>& face,
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const std::vector<int>& edgeidx);
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void CreateStencils(const std::vector<int>& simplex,
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const std::vector<int>& edgeidx);
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};
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} // namespace mujoco::plugin::elasticity
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#endif // MUJOCO_PLUGIN_ELASTICITY_SHELL_H_
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