Alessio Quaglino
e250ff0d5a
- Added new `cable` composite type: * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`. * The boundary bodies are exposed with the names:`B_left` and `B_right`. * The vertex initial positions can be specified directly in the XML with the parameter `vertex`. * The orientation of the body frame **is** the orientation of the material frame of the curve. - Added new `cable` passive force plugin: * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`. * The stress-free configuration can be set to be the initial one or flat with the flag `flat`. * New cable example showing the formation of plectoneme. * New coil example. * New belt example showing interaction between twist and anisotropy. * Added test using cantilever exact solution. PiperOrigin-RevId: 480033694 Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
139 lines
4.7 KiB
C++
139 lines
4.7 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_USER_USER_COMPOSITE_H_
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#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
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#include <map>
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#include <string>
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#include <vector>
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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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typedef enum _mjtCompType {
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mjCOMPTYPE_PARTICLE = 0,
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mjCOMPTYPE_GRID,
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mjCOMPTYPE_CABLE,
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mjCOMPTYPE_ROPE,
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mjCOMPTYPE_LOOP,
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mjCOMPTYPE_CLOTH,
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mjCOMPTYPE_BOX,
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mjCOMPTYPE_CYLINDER,
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mjCOMPTYPE_ELLIPSOID,
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mjNCOMPTYPES
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} mjtCompType;
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typedef enum _mjtCompKind {
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mjCOMPKIND_JOINT = 0,
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mjCOMPKIND_TWIST,
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mjCOMPKIND_STRETCH,
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mjCOMPKIND_TENDON,
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mjCOMPKIND_SHEAR,
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mjNCOMPKINDS
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} mjtCompKind;
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typedef enum _mjtCompShape {
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mjCOMPSHAPE_LINE = 0,
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mjCOMPSHAPE_COS,
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mjCOMPSHAPE_SIN,
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mjCOMPSHAPE_ZERO,
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mjNCOMPSHAPES
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} mjtCompShape;
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class mjCComposite {
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public:
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mjCComposite(void);
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void SetDefault(void);
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void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
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bool Make(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeParticle(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeGrid(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeRope(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeCable(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeCloth(mjCModel* model, mjCBody* body, char* error, int error_sz);
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bool MakeBox(mjCModel* model, mjCBody* body, char* error, int error_sz);
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void MakeShear(mjCModel* model);
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void MakeSkin2(mjCModel* model, mjtNum inflate);
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void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
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void MakeClothBones(mjCModel* model, mjCSkin* skin);
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void MakeClothBonesSubgrid(mjCModel* model, mjCSkin* skin);
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void MakeCableBones(mjCModel* model, mjCSkin* skin);
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void MakeCableBonesSubgrid(mjCModel* model, mjCSkin* skin);
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void MakeSkin3(mjCModel* model);
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void MakeSkin3Box(mjCSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
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void MakeSkin3Smooth(mjCSkin* skin, int c0, int c1, int side,
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const std::map<std::string, int>& vmap, const char* format);
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void BoxProject(double* pos);
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// common properties
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std::string prefix; // name prefix
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mjtCompType type; // composite type
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int count[3]; // geom count in each dimension
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double spacing; // spacing between elements
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double offset[3]; // position offset for particle and grid
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std::vector<int> pin; // pin elements of grid (do not create main joint)
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double flatinertia; // flatten ineria of cloth elements; 0: disable
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mjtNum solrefsmooth[mjNREF]; // solref for smoothing equality
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mjtNum solimpsmooth[mjNIMP]; // solimp for smoothing equality
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// currently used only for cable
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std::string initial; // root boundary type
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std::vector<float> uservert; // user-specified vertex positions
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mjtNum size[3]; // rope size (meaning depends on the shape)
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mjtCompShape curve[3]; // geometric shape
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// plugin support
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bool is_plugin;
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std::string plugin_name;
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std::string plugin_instance_name;
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mjCPlugin* plugin_instance;
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// skin
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bool skin; // generate skin
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bool skintexcoord; // generate texture coordinates
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std::string skinmaterial; // skin material
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float skinrgba[4]; // skin rgba
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float skininflate; // inflate skin
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int skinsubgrid; // number of skin subgrid points; 0: none (2D only)
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int skingroup; // skin group of the composite object
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// element options
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bool add[mjNCOMPKINDS]; // add element
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mjCDef def[mjNCOMPKINDS]; // defaults
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// computed internally
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int dim; // dimensionality
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private:
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mjCBody* AddRopeBody(mjCModel* model, mjCBody* body, int ix, int ix1);
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mjCBody* AddClothBody(mjCModel* model, mjCBody* body, int ix, int iy, int ix1, int iy1);
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mjCBody* AddCableBody(mjCModel* model, mjCBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
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};
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#endif // MUJOCO_SRC_USER_USER_COMPOSITE_H_
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