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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 | // 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_FLEXCOMP_H_
#define MUJOCO_SRC_USER_USER_FLEXCOMP_H_
#include <string>
#include <vector>
#include <mujoco/mujoco.h>
#include <mujoco/mjspec.h>
#include "user/user_model.h"
#include "user/user_objects.h"
typedef enum _mjtFcompType {
mjFCOMPTYPE_GRID = 0,
mjFCOMPTYPE_BOX,
mjFCOMPTYPE_CYLINDER,
mjFCOMPTYPE_ELLIPSOID,
mjFCOMPTYPE_SQUARE,
mjFCOMPTYPE_DISC,
mjFCOMPTYPE_CIRCLE,
mjFCOMPTYPE_MESH,
mjFCOMPTYPE_GMSH,
mjFCOMPTYPE_DIRECT,
mjNFCOMPTYPES
} mjtFcompType;
typedef enum _mjtDof {
mjFCOMPDOF_FULL = 0,
mjFCOMPDOF_RADIAL,
mjFCOMPDOF_TRILINEAR,
mjNFCOMPDOFS
} mjtDof;
class mjCFlexcomp {
public:
mjCFlexcomp(void);
bool Make(mjsBody* body, char* error, int error_sz);
bool MakeGrid(char* error, int error_sz);
bool MakeBox(char* error, int error_sz);
bool MakeSquare(char* error, int error_sz);
bool MakeMesh(mjCModel* model, char* error, int error_sz);
bool MakeGMSH(mjCModel* model, char* error, int error_sz);
void LoadGMSH(mjCModel* model, mjResource* resource);
void LoadGMSH41(char* buffer, int binary, int nodeend, int nodebegin,
int elemend, int elembegin);
void LoadGMSH22(char* buffer, int binary, int nodeend, int nodebegin,
int elemend, int elembegin);
int GridID(int ix, int iy);
int GridID(int ix, int iy, int iz);
int BoxID(int ix, int iy, int iz);
void BoxProject(double* pos, int ix, int iy, int iz);
// common properties set by user
std::string name; // flex name
mjtFcompType type; // flexcomp type
int count[3]; // grid count in each dimension
double spacing[3]; // spacing between grid elements
double scale[3]; // scaling for mesh and direct
double origin[3]; // origin for generating a 3D mesh from a convex 2D mesh
double mass; // total mass of auto-generated bodies
double inertiabox; // size of inertia box for each body
bool equality; // create edge equality constraint
std::string file; // mesh/gmsh file name
mjtDof doftype; // dof type, all vertices or trilinear interpolation
// pin specifications
std::vector<int> pinid; // ids of points to pin
std::vector<int> pinrange; // range of ids to pin
std::vector<int> pingrid; // grid coordinates to pin
std::vector<int> pingridrange; // range of grid coordinates to pin
// all other properties
mjCDef def; // local copy, parsed parameters stored here
// pose transform relative to parent body
double pos[3]; // position
double quat[4]; // orientation
mjsOrientation alt; // alternative orientation
// set by user or computed internally
bool rigid; // all vertices are in parent body (all pinned)
bool centered; // all vertex coordinates are (0,0,0) (nothing pinned)
std::vector<double> point; // flex bodies/vertices
std::vector<bool> pinned; // is point pinned (true: no new body)
std::vector<bool> used; // is point used by any element (false: skip)
std::vector<int> element; // flex elements
std::vector<float> texcoord; // vertex texture coordinates
std::vector<int> elemtexcoord; // face texture coordinates (OBJ only)
// plugin support
std::string plugin_name;
std::string plugin_instance_name;
mjsPlugin plugin;
};
#endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
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