File size: 2,008 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 | // 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_SDF_GEAR_H_
#define MUJOCO_PLUGIN_SDF_GEAR_H_
#include <optional>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
#include "sdf.h"
namespace mujoco::plugin::sdf {
struct GearAttribute {
static constexpr int nattribute = 5;
static constexpr char const* names[nattribute] = {"alpha", "diameter",
"teeth", "thickness",
"innerdiameter"};
static constexpr mjtNum defaults[nattribute] = { 0, 2.8, 25, .2 , -1};
};
class Gear {
public:
// Creates a new Gear instance (allocated with `new`) or
// returns null on failure.
static std::optional<Gear> Create(const mjModel* m, mjData* d, int instance);
Gear(Gear&&) = default;
~Gear() = default;
void Reset();
void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
mjvScene* scn, int instance);
void Compute(const mjModel* m, mjData* d, int instance);
mjtNum Distance(const mjtNum point[3]) const;
void Gradient(mjtNum grad[3], const mjtNum point[3]) const;
static void RegisterPlugin();
mjtNum attribute[GearAttribute::nattribute];
private:
Gear(const mjModel* m, mjData* d, int instance);
SdfVisualizer visualizer_;
};
} // namespace mujoco::plugin::sdf
#endif // MUJOCO_PLUGIN_SDF_GEAR_H_
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