Alessio Quaglino
6c7ed66781
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell. PiperOrigin-RevId: 901216393 Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
82 lines
3.0 KiB
C
82 lines
3.0 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_ENGINE_ENGINE_PASSIVE_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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//------------------------- passive forces ---------------------------------------------------------
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// all passive forces
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MJAPI void mj_passive(const mjModel* m, mjData* d);
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//------------------------- fluid models -----------------------------------------------------------
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// fluid forces based on inertia-box approximation
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void mj_inertiaBoxFluidModel(const mjModel* m, mjData* d, int i);
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// fluid forces based on ellipsoid approximation
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void mj_ellipsoidFluidModel(const mjModel* m, mjData* d, int bodyid);
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// compute forces due to added mass (potential flow)
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void mj_addedMassForces(
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const mjtNum local_vels[6], const mjtNum local_accels[6],
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mjtNum fluid_density, const mjtNum virtual_mass[3],
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const mjtNum virtual_inertia[3], mjtNum local_force[6]);
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// compute forces due to viscous effects
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void mj_viscousForces(
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const mjtNum local_vels[6], mjtNum fluid_density,
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mjtNum fluid_viscosity, const mjtNum size[3],
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mjtNum magnus_lift_coef, mjtNum kutta_lift_coef,
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mjtNum blunt_drag_coef, mjtNum slender_drag_coef,
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mjtNum ang_drag_coef, mjtNum local_force[6]);
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void readFluidGeomInteraction(const mjtNum* geom_fluid_coefs,
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mjtNum* geom_fluid_coef,
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mjtNum* blunt_drag_coef,
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mjtNum* slender_drag_coef,
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mjtNum* ang_drag_coef,
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mjtNum* kutta_lift_coef,
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mjtNum* magnus_lift_coef,
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mjtNum virtual_mass[3],
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mjtNum virtual_inertia[3]);
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void writeFluidGeomInteraction (mjtNum* geom_fluid_coefs,
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const mjtNum* geom_fluid_coef,
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const mjtNum* blunt_drag_coef,
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const mjtNum* slender_drag_coef,
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const mjtNum* ang_drag_coef,
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const mjtNum* kutta_lift_coef,
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const mjtNum* magnus_lift_coef,
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const mjtNum virtual_mass[3],
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const mjtNum virtual_inertia[3]);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_PASSIVE_H_
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