File size: 2,365 Bytes
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 59 60 61 62 63 64 65 66 67 68 69 70 | // 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_PLUGIN_ELASTICITY_ELASTICITY_H_
#define MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
#include <cstddef>
#include <functional>
#include <string>
#include <utility>
#include <vector>
#include <mujoco/mujoco.h>
namespace mujoco::plugin::elasticity {
struct PairHash
{
template <class T1, class T2>
std::size_t operator() (const std::pair<T1, T2>& pair) const {
return std::hash<T1>()(pair.first) ^ std::hash<T2>()(pair.second);
}
};
struct Stencil2D {
static constexpr int kNumEdges = 3;
static constexpr int kNumVerts = 3;
static constexpr int kNumFaces = 2;
static constexpr int edge[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
static constexpr int face[kNumVerts][2] = {{1, 2}, {2, 0}, {0, 1}};
static constexpr int edge2face[kNumEdges][2] = {{1, 2}, {2, 0}, {0, 1}};
int vertices[kNumVerts];
int edges[kNumEdges];
};
struct Stencil3D {
static constexpr int kNumEdges = 6;
static constexpr int kNumVerts = 4;
static constexpr int kNumFaces = 3;
static constexpr int edge[kNumEdges][2] = {{0, 1}, {1, 2}, {2, 0},
{2, 3}, {0, 3}, {1, 3}};
static constexpr int face[kNumVerts][3] = {{2, 1, 0}, {0, 1, 3},
{1, 2, 3}, {2, 0, 3}};
static constexpr int edge2face[kNumEdges][2] = {{2, 3}, {1, 3}, {2, 1},
{1, 0}, {0, 2}, {0, 3}};
int vertices[kNumVerts];
int edges[kNumEdges];
};
// copied from mjXUtil
void String2Vector(const std::string& txt, std::vector<int>& vec);
// reads numeric attributes
bool CheckAttr(const char* name, const mjModel* m, int instance);
} // namespace mujoco::plugin::elasticity
#endif // MUJOCO_PLUGIN_ELASTICITY_ELASTICITY_H_
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