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user_flexcomp.cc
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user_flexcomp.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 <algorithm>
#include <climits>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstring>
#include <iostream>
#include <sstream>
#include <stdexcept>
#include <string>
#include <vector>
#include <mujoco/mjmacro.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjplugin.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "engine/engine_crossplatform.h"
#include "engine/engine_util_errmem.h"
#include "user/user_flexcomp.h"
#include <mujoco/mjspec.h>
#include "user/user_model.h"
#include "user/user_objects.h"
#include "user/user_resource.h"
#include "user/user_util.h"
namespace {
namespace mju = ::mujoco::util;
using std::vector;
using std::stringstream;
} // 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;
}
// Read data of type T from a potentially unaligned buffer pointer.
template <typename T>
static void ReadFromBuffer(T* dst, const char* src) {
std::memcpy(dst, src, sizeof(T));
}
static void ReadStrFromBuffer(char* dest, const char* src, int maxlen) {
std::strncpy(dest, src, maxlen);
}
bool IsValidElementOrNodeHeader22(const std::string& line) {
// making sure characters are numbers
for (char c : line) {
if (!std::isdigit(c)) {
return false;
}
}
return true;
}
// constructor: set defaults outside mjCDef
mjCFlexcomp::mjCFlexcomp(void) {
type = mjFCOMPTYPE_GRID;
count[0] = count[1] = count[2] = 10;
mjuu_setvec(spacing, 0.02, 0.02, 0.02);
mjuu_setvec(scale, 1, 1, 1);
mass = 1;
inertiabox = 0.005;
equality = false;
mjuu_setvec(pos, 0, 0, 0);
mjuu_setvec(quat, 1, 0, 0, 0);
rigid = false;
centered = false;
mjs_defaultPlugin(&plugin);
mjs_defaultOrientation(&alt);
plugin_name = "";
plugin_instance_name = "";
plugin.name = (mjString*)&plugin_name;
plugin.instance_name = (mjString*)&plugin_instance_name;
}
// make flexcomp object
bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
mjCModel* model = (mjCModel*)spec->element;
mjsFlex* dflex = def.spec.flex;
int dim = dflex->dim;
bool radial = (type == mjFCOMPTYPE_BOX ||
type == mjFCOMPTYPE_CYLINDER ||
type == mjFCOMPTYPE_ELLIPSOID);
bool direct = (type == mjFCOMPTYPE_DIRECT ||
type == mjFCOMPTYPE_MESH ||
type == mjFCOMPTYPE_GMSH);
// check parent body name
if (std::string(mjs_getString(body->name)).empty()) {
return comperr(error, "Parent body must have name", error_sz);
}
// check dim
if (dim < 1 || dim > 3) {
return comperr(error, "Invalid dim, must be between 1 and 3", error_sz);
}
// check counts
for (int i=0; i < 3; i++) {
if (count[i] < 1 || ((radial && count[i] < 2) && dim == 3)) {
return comperr(error, "Count too small", error_sz);
}
}
// check spacing
double minspace = 2*dflex->radius + dflex->margin;
if (!direct) {
if (spacing[0] < minspace ||
spacing[1] < minspace ||
spacing[2] < minspace) {
return comperr(error, "Spacing must be larger than geometry size", error_sz);
}
}
// check scale
if (scale[0]<mjMINVAL || scale[1]<mjMINVAL || scale[2]<mjMINVAL) {
return comperr(error, "Scale must be larger than mjMINVAL", error_sz);
}
// check mass and inertia
if (mass<mjMINVAL || inertiabox<mjMINVAL) {
return comperr(error, "Mass and inertiabox must be larger than mjMINVAL", error_sz);
}
// compute orientation
const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.eulerseq, &alt);
if (alterr) {
return comperr(error, alterr, error_sz);
}
// type-specific constructor: populate point and element, possibly set dim
bool res;
switch (type) {
case mjFCOMPTYPE_GRID:
res = MakeGrid(error, error_sz);
break;
case mjFCOMPTYPE_BOX:
case mjFCOMPTYPE_CYLINDER:
case mjFCOMPTYPE_ELLIPSOID:
res = MakeBox(error, error_sz);
break;
case mjFCOMPTYPE_SQUARE:
case mjFCOMPTYPE_DISC:
res = MakeSquare(error, error_sz);
break;
case mjFCOMPTYPE_MESH:
res = MakeMesh(model, error, error_sz);
break;
case mjFCOMPTYPE_GMSH:
res = MakeGMSH(model, error, error_sz);
break;
case mjFCOMPTYPE_DIRECT:
res = true;
break;
default:
return comperr(error, "Unknown flexcomp type", error_sz);
}
if (!res) {
return false;
}
// force flatskin shading for box, cylinder and 3D grid
if (type == mjFCOMPTYPE_BOX || type == mjFCOMPTYPE_CYLINDER ||
(type == mjFCOMPTYPE_GRID && dim == 3)) {
dflex->flatskin = true;
}
// check pin sizes
if (pinrange.size()%2) {
return comperr(error, "Pin range number must be multiple of 2", error_sz);
}
if (pingrid.size()%dim) {
return comperr(error, "Pin grid number must be multiple of dim", error_sz);
}
if (pingridrange.size()%(2*dim)) {
return comperr(error, "Pin grid range number of must be multiple of 2*dim", error_sz);
}
if (type != mjFCOMPTYPE_GRID && !(pingrid.empty() && pingridrange.empty())) {
return comperr(error, "Pin grid(range) can only be used with grid type", error_sz);
}
if (dim == 1 && !(pingrid.empty() && pingridrange.empty())) {
return comperr(error, "Pin grid(range) cannot be used with dim=1", error_sz);
}
// require element and point
if (point.empty() || element.empty()) {
return comperr(error, "Point and element required", error_sz);
}
// check point size
if (point.size()%3) {
return comperr(error, "Point size must be a multiple of 3", error_sz);
}
// check element size
if (element.size()%(dim+1)) {
return comperr(error, "Element size must be a multiple of dim+1", error_sz);
}
// get number of points
int npnt = point.size()/3;
// check elem vertex ids
for (int i=0; i < (int)element.size(); i++) {
if (element[i] < 0 || element[i] >= npnt) {
char msg[100];
snprintf(msg, sizeof(msg), "element %d has point id %d, number of points is %d", i,
element[i], npnt);
return comperr(error, msg, error_sz);
}
}
// apply scaling for direct types
if (direct && (scale[0] != 1 || scale[1] != 1 || scale[2] != 1)) {
for (int i=0; i < npnt; i++) {
point[3*i] *= scale[0];
point[3*i+1] *= scale[1];
point[3*i+2] *= scale[2];
}
}
// apply pose transform to points
for (int i=0; i < npnt; i++) {
double newp[3], oldp[3] = {point[3*i], point[3*i+1], point[3*i+2]};
mjuu_trnVecPose(newp, pos, quat, oldp);
point[3*i] = newp[0];
point[3*i+1] = newp[1];
point[3*i+2] = newp[2];
}
// construct pinned array
pinned = vector<bool>(npnt, rigid);
// handle pins if user did not specify rigid
if (!rigid) {
// process pinid
for (int i=0; i < (int)pinid.size(); i++) {
// check range
if (pinid[i] < 0 || pinid[i] >= npnt) {
return comperr(error, "pinid out of range", error_sz);
}
// set
pinned[pinid[i]] = true;
}
// process pinrange
for (int i=0; i < (int)pinrange.size(); i+=2) {
// check range
if (pinrange[i] < 0 || pinrange[i] >= npnt ||
pinrange[i+1] < 0 || pinrange[i+1] >= npnt) {
return comperr(error, "pinrange out of range", error_sz);
}
// set
for (int k=pinrange[i]; k <= pinrange[i+1]; k++) {
pinned[k] = true;
}
}
// process pingrid
for (int i=0; i < (int)pingrid.size(); i+=dim) {
// check range
for (int k=0; k < dim; k++) {
if (pingrid[i+k] < 0 || pingrid[i+k] >= count[k]) {
return comperr(error, "pingrid out of range", error_sz);
}
}
// set
if (dim == 2) {
pinned[GridID(pingrid[i], pingrid[i+1])] = true;
}
else if (dim == 3) {
pinned[GridID(pingrid[i], pingrid[i+1], pingrid[i+2])] = true;
}
}
// process pingridrange
for (int i=0; i < (int)pingridrange.size(); i+=2*dim) {
// check range
for (int k=0; k < 2*dim; k++) {
if (pingridrange[i+k] < 0 || pingridrange[i+k] >= count[k%dim]) {
return comperr(error, "pingridrange out of range", error_sz);
}
}
// set
if (dim == 2) {
for (int ix=pingridrange[i]; ix <= pingridrange[i+2]; ix++) {
for (int iy=pingridrange[i+1]; iy <= pingridrange[i+3]; iy++) {
pinned[GridID(ix, iy)] = true;
}
}
}
else if (dim==3) {
for (int ix=pingridrange[i]; ix <= pingridrange[i+3]; ix++) {
for (int iy=pingridrange[i+1]; iy <= pingridrange[i+4]; iy++) {
for (int iz=pingridrange[i+2]; iz <= pingridrange[i+5]; iz++) {
pinned[GridID(ix, iy, iz)] = true;
}
}
}
}
}
// center of radial body is always pinned
if (radial) {
pinned[0] = true;
}
// check if all or none are pinned
bool allpin = true, nopin = true;
for (int i=0; i < npnt; i++) {
if (pinned[i]) {
nopin = false;
}
else {
allpin = false;
}
}
// adjust rigid and centered
if (allpin) {
rigid = true;
}
else if (nopin) {
centered = true;
}
}
// remove unreferenced for direct, mesh, gmsh
if (direct) {
// find used
used = std::vector<bool> (npnt, false);
for (int i=0; i < (int)element.size(); i++) {
used[element[i]] = true;
}
// construct reindex
bool hasunused = false;
std::vector<int> reindex (npnt, 0);
for (int i=0; i < npnt; i++) {
if (!used[i]) {
hasunused = true;
for (int k=i+1; k < npnt; k++) {
reindex[k]--;
}
}
}
// reindex elements if unused present
if (hasunused) {
for (int i=0; i < (int)element.size(); i++) {
element[i] += reindex[element[i]];
}
}
}
// nothing to remove for auto-generated types
else {
used = std::vector<bool> (npnt, true);
}
// create flex, copy parameters
mjCFlex* flex = model->AddFlex();
mjsFlex* pf = &flex->spec;
int id = flex->id;
*flex = def.Flex();
flex->PointToLocal();
flex->model = model;
flex->id = id;
mjs_setString(pf->name, name.c_str());
mjs_setInt(pf->elem, element.data(), element.size());
mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
if (!centered) {
mjs_setDouble(pf->vert, point.data(), point.size());
}
// rigid: set parent name, nothing else to do
if (rigid) {
mjs_appendString(pf->vertbody, mjs_getString(body->name));
return true;
}
// compute body mass and inertia matching specs
double bodymass = mass/npnt;
double bodyinertia = bodymass*(2.0*inertiabox*inertiabox)/3.0;
// overwrite plugin name
if (plugin.active && plugin_instance_name.empty()) {
plugin_instance_name = "flexcomp_" + name;
static_cast<mjCPlugin*>(plugin.instance)->name = plugin_instance_name;
}
// create bodies, construct flex vert and vertbody
for (int i=0; i < npnt; i++) {
// not used: skip
if (!used[i]) {
continue;
}
// pinned: parent body
if (pinned[i]) {
mjs_appendString(pf->vertbody, mjs_getString(body->name));
// add plugin
if (plugin.active) {
mjsPlugin* pplugin = &body->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
}
// not pinned: new body
else {
// add new body at vertex coordinates
mjsBody* pb = mjs_addBody(body, 0);
// set frame and inertial
pb->pos[0] = point[3*i];
pb->pos[1] = point[3*i+1];
pb->pos[2] = point[3*i+2];
mjuu_zerovec(pb->ipos, 3);
pb->mass = bodymass;
pb->inertia[0] = bodyinertia;
pb->inertia[1] = bodyinertia;
pb->inertia[2] = bodyinertia;
pb->explicitinertial = true;
// add radial slider
if (radial) {
mjsJoint* jnt = mjs_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_copyvec(jnt->axis, pb->pos, 3);
mjuu_normvec(jnt->axis, 3);
}
// add three orthogonal sliders
else {
for (int j=0; j < 3; j++) {
// add joint to body
mjsJoint* jnt = mjs_addJoint(pb, 0);
// set properties
jnt->type = mjJNT_SLIDE;
mjuu_setvec(jnt->pos, 0, 0, 0);
mjuu_setvec(jnt->axis, 0, 0, 0);
jnt->axis[j] = 1;
}
}
// construct body name, add to vertbody
char txt[100];
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
mjs_setString(pb->name, txt);
mjs_appendString(pf->vertbody, mjs_getString(pb->name));
// clear flex vertex coordinates if allocated
if (!centered) {
point[3*i] = 0;
point[3*i+1] = 0;
point[3*i+2] = 0;
}
// add plugin
if (plugin.active) {
mjsPlugin* pplugin = &pb->plugin;
pplugin->active = true;
pplugin->instance = static_cast<mjsElement*>(plugin.instance);
mjs_setString(pplugin->name, mjs_getString(plugin.name));
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
}
}
}
if (!centered) {
mjs_setDouble(pf->vert, point.data(), point.size());
}
// create edge equality constraint
if (equality) {
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
mjs_setDefault(pe->element, &model->Default()->spec);
pe->type = mjEQ_FLEX;
pe->active = true;
mjs_setString(pe->name1, name.c_str());
}
return true;
}
// get point id from grid coordinates
int mjCFlexcomp::GridID(int ix, int iy) {
return ix*count[1] + iy;
}
int mjCFlexcomp::GridID(int ix, int iy, int iz) {
return ix*count[1]*count[2] + iy*count[2] + iz;
}
// make grid
bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
int dim = def.Flex().spec.dim;
bool hastex = texcoord.empty();
// 1D
if (dim == 1) {
for (int ix=0; ix < count[0]; ix++) {
// add point
point.push_back(spacing[0]*(ix - 0.5*(count[0]-1)));
point.push_back(0);
point.push_back(0);
// add element
if (ix < count[0]-1) {
element.push_back(ix);
element.push_back(ix+1);
}
}
}
// 2D
else if (dim == 2) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
int quad2tri[2][3] = {{0, 1, 2}, {0, 2, 3}};
// add point
double pos[2] = {spacing[0]*(ix - 0.5*(count[0]-1)),
spacing[1]*(iy - 0.5*(count[1]-1))};
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(0);
// add texture coordinates, if not specified explicitly
if (!hastex) {
texcoord.push_back(ix/(double)std::max(count[0]-1, 1));
texcoord.push_back(iy/(double)std::max(count[1]-1, 1));
}
// flip triangles if radial projection is requested
if (((pos[0] < -mjEPS && pos[1] > -mjEPS) ||
(pos[0] > -mjEPS && pos[1] < -mjEPS)) &&
type == mjFCOMPTYPE_DISC) {
quad2tri[0][2] = 3;
quad2tri[1][0] = 1;
}
// add elements
if (ix < count[0]-1 && iy < count[1]-1) {
int vert[4] = {
count[2]*count[1]*(ix+0) + count[2]*(iy+0),
count[2]*count[1]*(ix+1) + count[2]*(iy+0),
count[2]*count[1]*(ix+1) + count[2]*(iy+1),
count[2]*count[1]*(ix+0) + count[2]*(iy+1),
};
for (int s =0; s < 2; s++) {
for (int v=0; v < 3; v++) {
element.push_back(vert[quad2tri[s][v]]);
}
}
}
}
}
}
// 3D
else {
int cube2tets[6][4] = {{0, 3, 1, 7}, {0, 1, 4, 7},
{1, 3, 2, 7}, {1, 2, 6, 7},
{1, 5, 4, 7}, {1, 6, 5, 7}};
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
point.push_back(spacing[0]*(ix - 0.5*(count[0]-1)));
point.push_back(spacing[1]*(iy - 0.5*(count[1]-1)));
point.push_back(spacing[2]*(iz - 0.5*(count[2]-1)));
// add elements
if (ix < count[0]-1 && iy < count[1]-1 && iz < count[2]-1) {
int vert[8] = {
count[2]*count[1]*(ix+0) + count[2]*(iy+0) + iz+0,
count[2]*count[1]*(ix+1) + count[2]*(iy+0) + iz+0,
count[2]*count[1]*(ix+1) + count[2]*(iy+1) + iz+0,
count[2]*count[1]*(ix+0) + count[2]*(iy+1) + iz+0,
count[2]*count[1]*(ix+0) + count[2]*(iy+0) + iz+1,
count[2]*count[1]*(ix+1) + count[2]*(iy+0) + iz+1,
count[2]*count[1]*(ix+1) + count[2]*(iy+1) + iz+1,
count[2]*count[1]*(ix+0) + count[2]*(iy+1) + iz+1,
};
for (int s=0; s < 6; s++) {
for (int v=0; v < 4; v++) {
element.push_back(vert[cube2tets[s][v]]);
}
}
}
}
}
}
}
// check elements
if (element.empty()) {
return comperr(error, "No elements were created in grid", error_sz);
}
return true;
}
// get point id from box coordinates and side
int mjCFlexcomp::BoxID(int ix, int iy, int iz) {
// side iz=0
if (iz == 0) {
return ix*count[1] + iy + 1;
}
// side iz=max
else if (iz == count[2]-1) {
return count[0]*count[1] + ix*count[1] + iy + 1;
}
// side iy=0
else if (iy == 0) {
return 2*count[0]*count[1] + ix*(count[2]-2) + iz - 1 + 1;
}
// side iy=max
else if (iy == count[1]-1) {
return 2*count[0]*count[1] + count[0]*(count[2]-2) + ix*(count[2]-2) + iz - 1 + 1;
}
// side ix=0
else if (ix == 0) {
return 2*count[0]*count[1] + 2*count[0]*(count[2]-2) + (iy-1)*(count[2]-2) + iz - 1 + 1;
}
// side ix=max
else {
return 2*count[0]*count[1] + 2*count[0]*(count[2]-2) + (count[1]-2)*(count[2]-2) +
(iy-1)*(count[2]-2) + iz - 1 + 1;
}
}
// project from box to other shape
void mjCFlexcomp::BoxProject(double* pos, int ix, int iy, int iz) {
// init point
pos[0] = 2.0*ix/(count[0]-1) - 1;
pos[1] = 2.0*iy/(count[1]-1) - 1;
pos[2] = 2.0*iz/(count[2]-1) - 1;
// determine sizes
double size[3] = {
0.5*spacing[0]*(count[0]-1),
0.5*spacing[1]*(count[1]-1),
0.5*spacing[2]*(count[2]-1)
};
// box
if (type==mjFCOMPTYPE_BOX) {
pos[0] *= size[0];
pos[1] *= size[1];
pos[2] *= size[2];
}
// cylinder
else if (type==mjFCOMPTYPE_CYLINDER) {
double L0 = std::max(std::abs(pos[0]), std::abs(pos[1]));
mjuu_normvec(pos, 2);
pos[0] *= size[0]*L0;
pos[1] *= size[1]*L0;
pos[2] *= size[2];
}
// ellipsoid
else if (type==mjFCOMPTYPE_ELLIPSOID) {
mjuu_normvec(pos, 3);
pos[0] *= size[0];
pos[1] *= size[1];
pos[2] *= size[2];
}
}
// make 2d square or disc
bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
// set 2D
def.spec.flex->dim = 2;
// create square
if (!MakeGrid(error, error_sz)) {
return false;
}
// do projection
if (type==mjFCOMPTYPE_DISC) {
double size[2] = {
0.5*spacing[0]*(count[0]-1),
0.5*spacing[1]*(count[1]-1),
};
for (int i=0; i < point.size()/3; i++) {
double* pos = point.data() + i*3;
double L0 = std::max(std::abs(pos[0]), std::abs(pos[1]));
mjuu_normvec(pos, 2);
pos[0] *= size[0]*L0;
pos[1] *= size[1]*L0;
}
}
return true;
}
// make 3d box, ellipsoid or cylinder
bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
double pos[3];
// set 3D
def.spec.flex->dim = 3;
// add center point
point.push_back(0);
point.push_back(0);
point.push_back(0);
// iz=0/max
for (int iz=0; iz < count[2]; iz+=count[2]-1) {
for (int ix=0; ix < count[0]; ix++) {
for (int iy=0; iy < count[1]; iy++) {
// add point
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
// add elements
if (ix < count[0]-1 && iy < count[1]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix+1, iy+1, iz));
}
}
}
}
// iy=0/max
for (int iy=0; iy < count[1]; iy+=count[1]-1) {
for (int ix=0; ix < count[0]; ix++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
if (iz>0 && iz < count[2]-1) {
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
}
// add elements
if (ix < count[0]-1 && iz < count[2]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix+1, iy, iz));
element.push_back(BoxID(ix+1, iy, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix+1, iy, iz+1));
}
}
}
}
// ix=0/max
for (int ix=0; ix < count[0]; ix+=count[0]-1) {
for (int iy=0; iy < count[1]; iy++) {
for (int iz=0; iz < count[2]; iz++) {
// add point
if (iz > 0 && iz < count[2]-1 && iy > 0 && iy < count[1]-1) {
BoxProject(pos, ix, iy, iz);
point.push_back(pos[0]);
point.push_back(pos[1]);
point.push_back(pos[2]);
}
// add elements
if (iy < count[1]-1 && iz < count[2]-1) {
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy+1, iz));
element.push_back(BoxID(ix, iy+1, iz+1));
element.push_back(0);
element.push_back(BoxID(ix, iy, iz));
element.push_back(BoxID(ix, iy, iz+1));
element.push_back(BoxID(ix, iy+1, iz+1));
}
}
}
}
return true;
}
// copied from user_mesh.cc
template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear = true){
if (vector.empty())
return nullptr;
else {
int n = (int)vector.size();
T* cvec = (T*) mju_malloc(n*sizeof(T));
memcpy(cvec, vector.data(), n*sizeof(T));
if (clear) {
vector.clear();
}
return cvec;
}
}
// make mesh
bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
// strip path
if (!file.empty() && model->spec.strippath) {
file = mjuu_strippath(file);
}
// file is required
if (file.empty()) {
return comperr(error, "File is required", error_sz);
}
// get extension and check; must be STL, OBJ or MSH
std::string ext = mjuu_getext(file);
if (strcasecmp(ext.c_str(), ".stl") &&
strcasecmp(ext.c_str(), ".obj") &&
strcasecmp(ext.c_str(), ".msh")) {
return comperr(error, "Mesh file extension must be stl, obj or msh", error_sz);
}
// check dim
if (def.spec.flex->dim != 2) {
return comperr(error, "Flex dim must be 2 in for mesh", error_sz);
}
// load resource
std::string filename = mjuu_combinePaths(mjs_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
try {
resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir),
filename, 0);
} catch (mjCError err) {
return comperr(error, err.message, error_sz);
}
// load mesh
mjCMesh mesh;
bool isobj = false;
try {
if (!strcasecmp(ext.c_str(), ".stl")) {
mesh.LoadSTL(resource);
} else if (!strcasecmp(ext.c_str(), ".obj")) {
isobj = true;
mesh.LoadOBJ(resource);
} else {
mesh.LoadMSH(resource);
}
mju_closeResource(resource);
} catch (mjCError err) {
mju_closeResource(resource);
return comperr(error, err.message, error_sz);
}
// LoadOBJ uses userXXX, extra processing needed
if (isobj) {
// check sizes
if (mesh.Vert().empty() || mesh.Face().empty()) {
return comperr(error, "Vertex and face data required", error_sz);
}
if (mesh.Vert().size()%3) {
return comperr(error, "Vertex data must be multiple of 3", error_sz);
}
if (mesh.Face().size()%3) {
return comperr(error, "Face data must be multiple of 3", error_sz);
}
// remove repeated vertices (not called in LoadOBJ)
mesh.RemoveRepeated();
}
// copy faces
element = mesh.Face();
// copy vertices, convert from float to double
point = vector<double> (mesh.nvert()*3);
for (int i=0; i < mesh.nvert()*3; i++) {
point[i] = (double) mesh.Vert(i);
}
return true;
}
// find string in buffer, return position or -1 if not found
static int findstring(const char* buffer, int buffer_sz, const char* str) {
int len = (int)strlen(str);
// scan buffer
for (int i=0; i < buffer_sz-len; i++) {
// check for string at position i
bool found = true;
for (int k=0; k < len; k++) {
if (buffer[i+k] != str[k]) {
found = false;
break;
}
}
// string found
if (found) {
return i;
}
}
// not found
return -1;
}
// load points and elements from GMSH file
bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
// strip path
if (!file.empty() && model->spec.strippath) {
file = mjuu_strippath(file);
}
// file is required
if (file.empty()) {
return comperr(error, "File is required", error_sz);
}