File size: 1,964 Bytes
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//
// 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_NUT_H_
#define MUJOCO_PLUGIN_SDF_NUT_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 {
// this plugin implements a modification of the signed distance function
// from https://www.shadertoy.com/view/XtffzX of hexagonal nut
struct NutAttribute {
static constexpr int nattribute = 1;
static constexpr char const* names[nattribute] = {"radius"};
static constexpr mjtNum defaults[nattribute] = {0.26};
};
class Nut {
public:
// Creates a new Nut instance (allocated with `new`) or
// returns null on failure.
static std::optional<Nut> Create(const mjModel* m, mjData* d, int instance);
Nut(Nut&&) = default;
~Nut() = 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[NutAttribute::nattribute];
private:
Nut(const mjModel* m, mjData* d, int instance);
SdfVisualizer visualizer_;
};
} // namespace mujoco::plugin::sdf
#endif // MUJOCO_PLUGIN_SDF_NUT_H_
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