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user_composite.cc
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user_composite.cc
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// 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.
#include <mujoco/mjspec.h>
#include "user/user_composite.h"
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstring>
#include <map>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_io.h"
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_util.h"
namespace {
namespace mju = ::mujoco::util;
using mujoco::user::VectorToString;
using mujoco::user::StringToVector;
} // namespace
// strncpy with 0, return false
static bool comperr(char* error, const char* msg, int error_sz) {
mju_strncpy(error, msg, error_sz);
return false;
}
// constructor
mjCComposite::mjCComposite(void) {
// common properties
prefix.clear();
type = mjCOMPTYPE_PARTICLE;
count[0] = count[1] = count[2] = 1;
spacing = 0;
mjuu_setvec(offset, 0, 0, 0);
pin.clear();
flatinertia = 0;
mj_defaultSolRefImp(solrefsmooth, solimpsmooth);
// plugin variables
mjs_defaultPlugin(&plugin);
plugin_name = "";
plugin_instance_name = "";
plugin.plugin_name = (mjString*)&plugin_name;
plugin.name = (mjString*)&plugin_instance_name;
// cable
curve[0] = curve[1] = curve[2] = mjCOMPSHAPE_ZERO;
mjuu_setvec(size, 1, 0, 0);
initial = "ball";
// skin
skin = false;
skintexcoord = false;
skinmaterial.clear();
mjuu_setvec(skinrgba, 1, 1, 1, 1);
skininflate = 0;
skinsubgrid = 0;
skingroup = 0;
// clear add flags
for (int i=0; i<mjNCOMPKINDS; i++) {
add[i] = false;
}
// clear internal
dim = 0;
}
// adjust constraint softness
void mjCComposite::AdjustSoft(mjtNum* solref, mjtNum* solimp, int level) {
switch (level) {
case 0:
solref[0] = 0.01;
solimp[0] = solimp[1] = 0.99;
break;
case 1:
solref[0] = 0.02;
solimp[0] = solimp[1] = 0.9;
break;
}
}
// create the array of default joint options, append new elements only for particles type
bool mjCComposite::AddDefaultJoint(char* error, int error_sz) {
for (int i=0; i<mjNCOMPKINDS; i++) {
if (!defjoint[(mjtCompKind)i].empty() && type!=mjCOMPTYPE_PARTICLE) {
comperr(error, "Only particles are allowed to have multiple joints", error_sz);
return false;
} else {
mjCDef jnt;
jnt.spec.joint->group = 3;
defjoint[(mjtCompKind)i].push_back(jnt);
}
}
return true;
}
// set defaults, after reading top-level info and skin
void mjCComposite::SetDefault(void) {
// determine dimensionality
int tmpdim = 0;
for (int i=0; i<3; i++) {
if (count[i]>1) {
tmpdim++;
}
}
// set all deafult groups to 3
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].spec.geom->group = 3;
def[i].spec.site->group = 3;
def[i].spec.tendon->group = 3;
}
// set default joint
AddDefaultJoint();
// set default geom and tendon group to 0 if needed to be visible
if (!skin ||
type==mjCOMPTYPE_PARTICLE ||
type==mjCOMPTYPE_ROPE ||
type==mjCOMPTYPE_LOOP ||
type==mjCOMPTYPE_CABLE ||
(type==mjCOMPTYPE_GRID && tmpdim==1)) {
for (int i=0; i<mjNCOMPKINDS; i++) {
def[i].spec.geom->group = 0;
def[i].spec.tendon->group = 0;
}
}
// other type-specific adjustments
switch (type) {
case mjCOMPTYPE_PARTICLE: // particle
// no friction with anything
def[0].spec.geom->condim = 1;
def[0].spec.geom->priority = 1;
break;
case mjCOMPTYPE_GRID: // grid
// hard main tendon fix
AdjustSoft(def[mjCOMPKIND_TENDON].spec.equality->solref,
def[mjCOMPKIND_TENDON].spec.equality->solimp, 0);
break;
case mjCOMPTYPE_CABLE: // cable
case mjCOMPTYPE_ROPE: // rope
break;
case mjCOMPTYPE_LOOP: // loop
// hard smoothing
AdjustSoft(solrefsmooth, solimpsmooth, 0);
break;
case mjCOMPTYPE_CLOTH: // cloth
break;
default:
// SHOULD NOT OCCUR
mju_error("Invalid composite type: %d", type);
break;
}
}
// make composite object
bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
// check geom type
if ((def[0].spec.geom->type!=mjGEOM_SPHERE &&
def[0].spec.geom->type!=mjGEOM_CAPSULE &&
def[0].spec.geom->type!=mjGEOM_ELLIPSOID) &&
type!=mjCOMPTYPE_PARTICLE && type!=mjCOMPTYPE_CABLE) {
return comperr(error, "Composite geom type must be sphere, capsule or ellipsoid", error_sz);
}
// check pin coord number
if (pin.size()%2) {
return comperr(error, "Pin coordinate number of must be multiple of 2", error_sz);
}
// check counts
for (int i=0; i<3; i++) {
if (count[i]<1) {
return comperr(error, "Positive counts expected in composite", error_sz);
}
}
// check spacing
if (type==mjCOMPTYPE_GRID || (type==mjCOMPTYPE_PARTICLE && uservert.empty())) {
if (spacing < mju_max(def[0].spec.geom->size[0],
mju_max(def[0].spec.geom->size[1], def[0].spec.geom->size[2]))) {
return comperr(error, "Spacing must be larger than geometry size",
error_sz);
}
}
// check cable sizes are nonzero if vertices are not prescribed
if (mjuu_dot3(size, size)<mjMINVAL && uservert.empty()) {
return comperr(error, "Positive spacing or length expected in composite", error_sz);
}
// check spacing is not used by cable
if (spacing && type==mjCOMPTYPE_CABLE) {
return comperr(error, "Spacing is not supported by cable composite", error_sz);
}
// check either uservert or count but not both
if (!uservert.empty()) {
if (count[0]>1) {
return comperr(error, "Either vertex or count can be specified, not both", error_sz);
}
count[0] = uservert.size()/3;
count[1] = 1;
}
// determine dimensionality, check singleton order
bool first = false;
for (int i=0; i<3; i++) {
if (count[i]==1) {
first = true;
} else {
dim++;
if (first) {
return comperr(error, "Singleton counts must come last", error_sz);
}
}
}
// clear skin vectors
face.clear();
vert.clear();
bindpos.clear();
bindquat.clear();
texcoord.clear();
vertid.clear();
vertweight.clear();
// require 3x3 for subgrid
if (skin && skinsubgrid>0 && type!=mjCOMPTYPE_CABLE) {
if (count[0]<3 || count[1]<3) {
return comperr(error, "At least 3x3 required for skin subgrid", error_sz);
}
}
// check plugin compatibility
// TODO: move mujoco.elasticity.cable to the engine
if (plugin.active) {
if (type != mjCOMPTYPE_CABLE) {
return comperr(error, "Only cable composite supports plugins", error_sz);
}
if (plugin_name != "mujoco.elasticity.cable") {
return comperr(error, "Only mujoco.elasticity.cable is supported by composites", error_sz);
}
}
// overwrite plugin name
if (plugin_instance_name.empty() && plugin.active) {
plugin_instance_name = "composite" + prefix;
(static_cast<mjCPlugin*>(plugin.element))->name = plugin_instance_name;
}
// dispatch
switch (type) {
case mjCOMPTYPE_PARTICLE:
return MakeParticle(model, body, error, error_sz);
case mjCOMPTYPE_GRID:
return MakeGrid(model, body, error, error_sz);
case mjCOMPTYPE_ROPE:
return comperr(error,
"The \"rope\" composite type is deprecated. Please use "
"\"cable\" instead.",
error_sz);
case mjCOMPTYPE_LOOP:
return comperr(error,
"The \"loop\" composite type is deprecated. Please use "
"\"flexcomp\" instead.",
error_sz);
case mjCOMPTYPE_CABLE:
return MakeCable(model, body, error, error_sz);
case mjCOMPTYPE_CLOTH:
return comperr(error,
"The \"cloth\" composite type is deprecated. Please use "
"\"shell\" instead.",
error_sz);
default:
return comperr(error, "Unknown shape in composite", error_sz);
}
}
bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100];
std::vector<int> face;
// populate vertices and names
if (uservert.empty()) {
if (spacing < mju_max(def[0].spec.geom->size[0],
mju_max(def[0].spec.geom->size[1], def[0].spec.geom->size[2])))
return comperr(error, "Spacing must be larger than geometry size", error_sz);
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
for (int iz=0; iz<count[2]; iz++) {
uservert.push_back(spacing*(ix - 0.5*count[0]));
uservert.push_back(spacing*(iy - 0.5*count[1]));
uservert.push_back(spacing*(iz - 0.5*count[2]));
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
username.push_back(std::string(txt));
}
}
}
}
// create bodies and geoms
for (int i=0; i<uservert.size()/3; i++) {
// create body
mjsBody* b = mjs_addBody(body, NULL);
if (!username.empty()) {
mjs_setString(b->name, username[i].c_str());
} else {
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
mjs_setString(b->name, txt);
}
// set body position
b->pos[0] = offset[0] + uservert[3*i];
b->pos[1] = offset[1] + uservert[3*i+1];
b->pos[2] = offset[2] + uservert[3*i+2];
// add slider joints if none defined
if (!add[mjCOMPKIND_PARTICLE]) {
for (int i=0; i<3; i++) {
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
jnt->axis[i] = 1;
}
}
// add user-specified joints
else {
for (auto& defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
mjsJoint* jnt = mjs_addJoint(b, &defjnt.spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
}
}
// add geom
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
// add site
mjsSite* s = mjs_addSite(b, &def[0].spec);
mjs_setDefault(s->element, mjs_getDefault(body->element));
s->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
mjs_setString(s->name, txt);
}
return true;
}
// make grid connected with tendons
bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz) {
char txt[100], txt1[100], txt2[100];
// check dimensionality
if (dim>2) {
return comperr(error, "Grid can only be 1D or 2D", error_sz);
}
// check shear dimensionality
if (add[mjCOMPKIND_SHEAR] && dim!=2) {
return comperr(error, "Shear requires 2D grid", error_sz);
}
// check skin dimensionality
if (skin && dim!=2) {
return comperr(error, "Skin requires 2D grid", error_sz);
}
// create bodies, joints, geoms, sites
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// create body
mjsBody* b = mjs_addBody(body, NULL);
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
mjs_setString(b->name, txt);
// set body position
b->pos[0] = offset[0] + spacing*(ix - 0.5*count[0]);
b->pos[1] = offset[1] + spacing*(iy - 0.5*count[1]);
b->pos[2] = offset[2];
// add geom
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
mjs_setDefault(g->element, mjs_getDefault(body->element));
g->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sG%d_%d", prefix.c_str(), ix, iy);
mjs_setString(g->name, txt);
// add site
mjsSite* s = mjs_addSite(b, &def[0].spec);
mjs_setDefault(s->element, mjs_getDefault(body->element));
s->type = mjGEOM_SPHERE;
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
mjs_setString(s->name, txt);
// skip pinned elements
bool skip = false;
for (int ip=0; ip<pin.size(); ip+=2) {
if (pin[ip]==ix && pin[ip+1]==iy) {
skip = true;
break;
}
}
if (skip) {
continue;
}
// add slider joint
mjsJoint* jnt[3];
for (int i=0; i<3; i++) {
jnt[i] = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt[i]->element, mjs_getDefault(body->element));
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
mjs_setString(jnt[i]->name, txt);
jnt[i]->type = mjJNT_SLIDE;
mjuu_setvec(jnt[i]->pos, 0, 0, 0);
mjuu_setvec(jnt[i]->axis, 0, 0, 0);
jnt[i]->axis[i] = 1;
}
}
}
// create tendons and equality constraints
for (int i=0; i<2; i++) {
for (int ix=0; ix<count[0]-(i==0); ix++) {
for (int iy=0; iy<count[1]-(i==1); iy++) {
// recover site names
mju::sprintf_arr(txt1, "%sS%d_%d", prefix.c_str(), ix, iy);
mju::sprintf_arr(txt2, "%sS%d_%d", prefix.c_str(), ix+(i==0), iy+(i==1));
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_TENDON);
ten->classname = model->Default()->name;
mju::sprintf_arr(txt, "%sT%d_%d_%d", prefix.c_str(), i, ix, iy);
ten->name = txt;
ten->WrapSite(txt1);
ten->WrapSite(txt2);
// add equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, ten->name.c_str());
}
}
}
// shear for 2D
if (add[mjCOMPKIND_SHEAR]) {
MakeShear(model);
}
// skin
if (skin) {
if (skinsubgrid>0) {
MakeSkin2Subgrid(model, skininflate);
} else {
MakeSkin2(model, skininflate);
}
}
return true;
}
bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
// check dim
if (dim!=1) {
return comperr(error, "Cable must be one-dimensional", error_sz);
}
// check geom type
if (def[0].spec.geom->type!=mjGEOM_CYLINDER &&
def[0].spec.geom->type!=mjGEOM_CAPSULE &&
def[0].spec.geom->type!=mjGEOM_BOX) {
return comperr(error, "Cable geom type must be sphere, capsule or box", error_sz);
}
// add name to model
mjsText* pte = mjs_addText(&model->spec);
mjs_setString(pte->name, ("composite_" + prefix).c_str());
mjs_setString(pte->data, ("rope_" + prefix).c_str());
// populate uservert if not specified
if (uservert.empty()) {
for (int ix=0; ix<count[0]; ix++) {
for (int k=0; k<3; k++) {
switch (curve[k]) {
case mjCOMPSHAPE_LINE:
uservert.push_back(ix*size[0]/(count[0]-1));
break;
case mjCOMPSHAPE_COS:
uservert.push_back(size[1]*cos(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_SIN:
uservert.push_back(size[1]*sin(mjPI*ix*size[2]/(count[0]-1)));
break;
case mjCOMPSHAPE_ZERO:
uservert.push_back(0);
break;
default:
// SHOULD NOT OCCUR
mju_error("Invalid composite shape: %d", curve[k]);
break;
}
}
}
}
// create frame
double normal[3], prev_quat[4];
mjuu_setvec(normal, 0, 1, 0);
mjuu_setvec(prev_quat, 1, 0, 0, 0);
// add one body after the other
for (int ix=0; ix<count[0]-1; ix++) {
body = AddCableBody(model, body, ix, normal, prev_quat);
}
// add skin
if (def[0].spec.geom->type==mjGEOM_BOX) {
if (skinsubgrid>0) {
count[1]+=2;
MakeSkin2Subgrid(model, 2*def[0].spec.geom->size[2]);
count[1]-=2;
} else {
count[1]++;
MakeSkin2(model, 2*def[0].spec.geom->size[2]);
count[1]--;
}
}
return true;
}
mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix,
double normal[3], double prev_quat[4]) {
char txt_geom[100], txt_site[100], txt_slide[100];
char this_body[100], next_body[100], this_joint[100];
double dquat[4], this_quat[4];
// set flags
int lastidx = count[0]-2;
bool first = ix==0;
bool last = ix==lastidx;
bool secondlast = ix==lastidx-1;
// compute edge and tangent vectors
double edge[3], tprev[3], tnext[3], length_prev = 0;
mjuu_setvec(edge, uservert[3*(ix+1)+0]-uservert[3*ix+0],
uservert[3*(ix+1)+1]-uservert[3*ix+1],
uservert[3*(ix+1)+2]-uservert[3*ix+2]);
if (!first) {
mjuu_setvec(tprev, uservert[3*ix+0]-uservert[3*(ix-1)+0],
uservert[3*ix+1]-uservert[3*(ix-1)+1],
uservert[3*ix+2]-uservert[3*(ix-1)+2]);
length_prev = mjuu_normvec(tprev, 3);
}
if (!last) {
mjuu_setvec(tnext, uservert[3*(ix+2)+0]-uservert[3*(ix+1)+0],
uservert[3*(ix+2)+1]-uservert[3*(ix+1)+1],
uservert[3*(ix+2)+2]-uservert[3*(ix+1)+2]);
mjuu_normvec(tnext, 3);
}
// update moving frame
double length = mjuu_updateFrame(this_quat, normal, edge, tprev, tnext, first);
// create body, joint, and geom names
if (first) {
mju::sprintf_arr(this_body, "%sB_first", prefix.c_str());
mju::sprintf_arr(next_body, "%sB_%d", prefix.c_str(), ix+1);
mju::sprintf_arr(this_joint, "%sJ_first", prefix.c_str());
mju::sprintf_arr(txt_site, "%sS_first", prefix.c_str());
} else if (last) {
mju::sprintf_arr(this_body, "%sB_last", prefix.c_str());
mju::sprintf_arr(next_body, "%sB_first", prefix.c_str());
mju::sprintf_arr(this_joint, "%sJ_last", prefix.c_str());
mju::sprintf_arr(txt_site, "%sS_last", prefix.c_str());
} else if (secondlast){
mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
mju::sprintf_arr(next_body, "%sB_last", prefix.c_str());
mju::sprintf_arr(this_joint, "%sJ_%d", prefix.c_str(), ix);
} else {
mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
mju::sprintf_arr(next_body, "%sB_%d", prefix.c_str(), ix+1);
mju::sprintf_arr(this_joint, "%sJ_%d", prefix.c_str(), ix);
}
mju::sprintf_arr(txt_geom, "%sG%d", prefix.c_str(), ix);
mju::sprintf_arr(txt_slide, "%sJs%d", prefix.c_str(), ix);
// add body
body = mjs_addBody(body, 0);
mjs_setString(body->name, this_body);
if (first) {
mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
offset[1]+uservert[3*ix+1],
offset[2]+uservert[3*ix+2]);
mjuu_copyvec(body->quat, this_quat, 4);
} else {
mjuu_setvec(body->pos, length_prev, 0, 0);
double negquat[4] = {prev_quat[0], -prev_quat[1], -prev_quat[2], -prev_quat[3]};
mjuu_mulquat(dquat, negquat, this_quat);
mjuu_copyvec(body->quat, dquat, 4);
}
// add geom
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
mjs_setDefault(geom->element, mjs_getDefault(body->element));
mjs_setString(geom->name, txt_geom);
if (def[0].spec.geom->type==mjGEOM_CYLINDER ||
def[0].spec.geom->type==mjGEOM_CAPSULE) {
mjuu_zerovec(geom->fromto, 6);
geom->fromto[3] = length;
} else if (def[0].spec.geom->type==mjGEOM_BOX) {
mjuu_zerovec(geom->pos, 3);
geom->pos[0] = length/2;
geom->size[0] = length/2;
}
// add plugin
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->element = plugin.element;
mjs_setString(pplugin->plugin_name, mjs_getString(plugin.plugin_name));
mjs_setString(pplugin->name, plugin_instance_name.c_str());
}
// update orientation
mjuu_copyvec(prev_quat, this_quat, 4);
// add curvature joint
if (!first || strcmp(initial.c_str(), "none")) {
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
mjs_setString(jnt->name, this_joint);
}
// exclude contact pair
if (!last) {
mjsExclude* exclude = mjs_addExclude(&model->spec);
mjs_setString(exclude->bodyname1, std::string(this_body).c_str());
mjs_setString(exclude->bodyname2, std::string(next_body).c_str());
}
// add site at the boundary
if (last || first) {
mjsSite* site = mjs_addSite(body, &def[0].spec);
mjs_setDefault(site->element, mjs_getDefault(body->element));
mjs_setString(site->name, txt_site);
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
mjuu_setvec(site->quat, 1, 0, 0, 0);
}
return body;
}
// add shear tendons to 2D
void mjCComposite::MakeShear(mjCModel* model) {
char txt[100], txt1[100], txt2[100];
for (int ix=0; ix<count[0]-1; ix++) {
for (int iy=0; iy<count[1]-1; iy++) {
// recover site names
mju::sprintf_arr(txt1, "%sS%d_%d", prefix.c_str(), ix, iy);
mju::sprintf_arr(txt2, "%sS%d_%d", prefix.c_str(), ix+1, iy+1);
// create tendon
mjCTendon* ten = model->AddTendon(def + mjCOMPKIND_SHEAR);
ten->classname = model->Default()->name;
ten->WrapSite(txt1);
ten->WrapSite(txt2);
// name tendon
mju::sprintf_arr(txt, "%sTS%d_%d", prefix.c_str(), ix, iy);
ten->name = txt;
// equality constraint
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
mjs_setDefault(eq->element, &model->Default()->spec);
eq->type = mjEQ_TENDON;
mjs_setString(eq->name1, txt);
}
}
}
// copy local vectors to skin
void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
mjs_setInt(skin->face, face.data(), face.size());
mjs_setFloat(skin->vert, vert.data(), vert.size());
mjs_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
mjs_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
for (int i=0; i<vertid.size(); i++) {
mjs_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
}
for (int i=0; i< vertweight.size(); i++) {
mjs_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
}
face.clear();
vert.clear();
bindpos.clear();
bindquat.clear();
texcoord.clear();
vertid.clear();
vertweight.clear();
}
// add skin to 2D
void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
char txt[100];
int N = count[0]*count[1];
// add skin, set name and material
mjsSkin* skin = mjs_addSkin(&model->spec);
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
mjs_setString(skin->name, txt);
mjs_setString(skin->material, skinmaterial.c_str());
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = inflate;
skin->group = skingroup;
// populate mesh: two sides
for (int i=0; i<2; i++) {
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// vertex
vert.push_back(0);
vert.push_back(0);
vert.push_back(0);
// texture coordinate
if (skintexcoord) {
texcoord.push_back(ix/(float)(count[0]-1));
texcoord.push_back(iy/(float)(count[1]-1));
}
// face
if (ix<count[0]-1 && iy<count[1]-1) {
face.push_back(i*N + ix*count[1]+iy);
face.push_back(i*N + (ix+1)*count[1]+iy+(i==1));
face.push_back(i*N + (ix+1)*count[1]+iy+(i==0));
face.push_back(i*N + ix*count[1]+iy);
face.push_back(i*N + (ix+(i==0))*count[1]+iy+1);
face.push_back(i*N + (ix+(i==1))*count[1]+iy+1);
}
}
}
}
// add thin triangles: X direction, iy = 0
for (int ix=0; ix<count[0]-1; ix++) {
face.push_back(ix*count[1]);
face.push_back(N + (ix+1)*count[1]);
face.push_back((ix+1)*count[1]);
face.push_back(ix*count[1]);
face.push_back(N + ix*count[1]);
face.push_back(N + (ix+1)*count[1]);
}
// add thin triangles: X direction, iy = count[1]-1
for (int ix=0; ix<count[0]-1; ix++) {
face.push_back(ix*count[1] + count[1]-1);
face.push_back((ix+1)*count[1] + count[1]-1);
face.push_back(N + (ix+1)*count[1] + count[1]-1);
face.push_back(ix*count[1] + count[1]-1);
face.push_back(N + (ix+1)*count[1] + count[1]-1);
face.push_back(N + ix*count[1] + count[1]-1);
}
// add thin triangles: Y direction, ix = 0
for (int iy=0; iy<count[1]-1; iy++) {
face.push_back(iy);
face.push_back(iy+1);
face.push_back(N + iy+1);
face.push_back(iy);
face.push_back(N + iy+1);
face.push_back(N + iy);
}
// add thin triangles: Y direction, ix = count[0]-1
for (int iy=0; iy<count[1]-1; iy++) {
face.push_back(iy + (count[0]-1)*count[1]);
face.push_back(N + iy+1 + (count[0]-1)*count[1]);
face.push_back(iy+1 + (count[0]-1)*count[1]);
face.push_back(iy + (count[0]-1)*count[1]);
face.push_back(N + iy + (count[0]-1)*count[1]);
face.push_back(N + iy+1 + (count[0]-1)*count[1]);
}
// couple with bones
if (type==mjCOMPTYPE_PARTICLE || type==mjCOMPTYPE_GRID) {
MakeClothBones(model, skin);
} else if (type==mjCOMPTYPE_CABLE) {
MakeCableBones(model, skin);
}
CopyIntoSkin(skin);
}
// add bones in 2D
void mjCComposite::MakeClothBones(mjCModel* model, mjsSkin* skin) {
char txt[100];
int N = count[0]*count[1];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(0);
bindpos.push_back(0);
bindpos.push_back(0);
bindquat.push_back(1);
bindquat.push_back(0);
bindquat.push_back(0);
bindquat.push_back(0);
// create vertid and vertweight
vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
vertweight.push_back({1, 1});
}
}
}
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin) {
char txt[100];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
if (type==mjCOMPTYPE_GRID) {
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
} else {
mju::sprintf_arr(txt, "%sB%d_%d_0", prefix.c_str(), ix, iy);
}
// bind pose
mjs_appendString(skin->bodyname, txt);
bindpos.push_back(ix*spacing);
bindpos.push_back(iy*spacing);
bindpos.push_back(0);
bindquat.push_back(1);
bindquat.push_back(0);
bindquat.push_back(0);
bindquat.push_back(0);
// empty vertid and vertweight
vertid.push_back({});
vertweight.push_back({});
}
}
}
// add bones to 1D
void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
char this_body[100];
int N = count[0]*count[1];
// populate bones
for (int ix=0; ix<count[0]; ix++) {
for (int iy=0; iy<count[1]; iy++) {
// body name
if (ix==0) {
mju::sprintf_arr(this_body, "%sB_first", prefix.c_str());
} else if (ix>=count[0]-2) {
mju::sprintf_arr(this_body, "%sB_last", prefix.c_str());
} else {
mju::sprintf_arr(this_body, "%sB_%d", prefix.c_str(), ix);
}
// bind pose
if (iy==0) {
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(-def[0].spec.geom->size[1]);
bindpos.push_back(0);
bindquat.push_back(1); bindquat.push_back(0);
bindquat.push_back(0); bindquat.push_back(0);
} else {
mjs_appendString(skin->bodyname, this_body);
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
bindpos.push_back(def[0].spec.geom->size[1]);
bindpos.push_back(0);
bindquat.push_back(1); bindquat.push_back(0);
bindquat.push_back(0); bindquat.push_back(0);
}
// create vertid and vertweight
vertid.push_back({ix*count[1]+iy, N + ix*count[1]+iy});
vertweight.push_back({1, 1});
}
}
}
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
// populate bones
for (int ix=0; ix<count[0]; ix++) {