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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | // Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
#include <optional>
#include <vector>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
namespace mujoco::plugin::elasticity {
class Cable {
public:
// Creates a new Cable instance (allocated with `new`) or
// returns null on failure.
static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
Cable(Cable&&) = default;
~Cable() = default;
void Compute(const mjModel* m, mjData* d, int instance);
void Visualize(const mjModel* m, mjData* d, mjvScene* scn, int instance);
static void RegisterPlugin();
int i0; // index of first body
int n; // number of bodies in the cable
std::vector<int> prev; // indices of previous bodies (n x 1)
std::vector<int> next; // indices of next bodies (n x 1)
std::vector<mjtNum> stiffness; // stiffness parameters (n x 4)
std::vector<mjtNum> omega0; // reference curvature (n x 3)
std::vector<mjtNum> stress; // mechanical stress (n x 3)
mjtNum vmax; // max value in colormap
private:
Cable(const mjModel* m, mjData* d, int instance);
};
} // namespace mujoco::plugin::elasticity
#endif // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
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