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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 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 | // Copyright 2021 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_USER_USER_COMPOSITE_H_
#define MUJOCO_SRC_USER_USER_COMPOSITE_H_
#include <string>
#include <unordered_map>
#include <vector>
#include <mujoco/mjmodel.h>
#include <mujoco/mjspec.h>
#include "user/user_model.h"
#include "user/user_objects.h"
typedef enum _mjtCompType {
mjCOMPTYPE_PARTICLE = 0,
mjCOMPTYPE_GRID,
mjCOMPTYPE_CABLE,
mjCOMPTYPE_ROPE,
mjCOMPTYPE_LOOP,
mjCOMPTYPE_CLOTH,
mjNCOMPTYPES
} mjtCompType;
typedef enum _mjtCompKind {
mjCOMPKIND_JOINT = 0,
mjNCOMPKINDS
} mjtCompKind;
typedef enum _mjtCompShape {
mjCOMPSHAPE_INVALID = -1,
mjCOMPSHAPE_LINE,
mjCOMPSHAPE_COS,
mjCOMPSHAPE_SIN,
mjCOMPSHAPE_ZERO,
mjNCOMPSHAPES
} mjtCompShape;
class mjCComposite {
public:
mjCComposite(void);
void SetDefault(void);
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
void MakeSkin2(mjCModel* model, mjtNum inflate);
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
void MakeCableBones(mjCModel* model, mjsSkin* skin);
void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
// common properties
std::string prefix; // name prefix
mjtCompType type; // composite type
int count[3]; // geom count in each dimension
double offset[3]; // position offset
double quat[4]; // quaternion offset
// currently used only for cable
std::string initial; // root boundary type
std::vector<float> uservert; // user-specified vertex positions
double size[3]; // rope size (meaning depends on the shape)
mjtCompShape curve[3]; // geometric shape
mjsFrame* frame; // frame where the composite is defined
// body names used in the skin
std::vector<std::string> username;
// plugin support
std::string plugin_name;
std::string plugin_instance_name;
mjsPlugin plugin;
// skin
bool skin; // generate skin
bool skintexcoord; // generate texture coordinates
std::string skinmaterial; // skin material
float skinrgba[4]; // skin rgba
float skininflate; // inflate skin
int skinsubgrid; // number of skin subgrid points; 0: none (2D only)
int skingroup; // skin group of the composite object
// element options
bool add[mjNCOMPKINDS]; // add element
mjCDef def[mjNCOMPKINDS]; // default geom, site, tendon
std::unordered_map<mjtCompKind, std::vector<mjCDef> > defjoint; // default joints
// computed internally
int dim; // dimensionality
private:
mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, double normal[3], double prev_quat[4]);
// temporary skin vectors
void CopyIntoSkin(mjsSkin* skin);
std::vector<int> face;
std::vector<float> vert;
std::vector<float> bindpos;
std::vector<float> bindquat;
std::vector<float> texcoord;
std::vector<std::vector<int>> vertid;
std::vector<std::vector<float>> vertweight;
};
#endif // MUJOCO_SRC_USER_USER_COMPOSITE_H_
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