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| #include <algorithm> |
| #include <cctype> |
| #include <cstddef> |
| #include <cstdio> |
| #include <cstdlib> |
| #include <string> |
|
|
| #include <mujoco/mujoco.h> |
| #include "sdf.h" |
|
|
| namespace mujoco::plugin::sdf { |
|
|
| bool CheckAttr(const char* name, const mjModel* m, int instance) { |
| char *end; |
| std::string value = mj_getPluginConfig(m, instance, name); |
| value.erase(std::remove_if(value.begin(), value.end(), isspace), value.end()); |
| strtod(value.c_str(), &end); |
| return end == value.data() + value.size(); |
| } |
|
|
| SdfVisualizer::SdfVisualizer() { |
| points_.assign(10*(mjMAXCONPAIR+1)*(mjMAXCONPAIR+1)*3, 0); |
| npoints_.clear(); |
| } |
|
|
| void SdfVisualizer::AddPoint(const mjtNum point[3]) { |
| if (!npoints_.empty() && npoints_.back() < points_.size()/3) { |
| points_[3*npoints_.back()+0] = point[0]; |
| points_[3*npoints_.back()+1] = point[1]; |
| points_[3*npoints_.back()+2] = point[2]; |
| npoints_.back()++; |
| } |
| } |
|
|
| void SdfVisualizer::Next() { |
| npoints_.push_back(npoints_.empty() ? 0 : npoints_.back()); |
| } |
|
|
| void SdfVisualizer::Reset() { |
| npoints_.clear(); |
| } |
|
|
| void SdfVisualizer::Visualize(const mjModel* m, const mjData* d, |
| const mjvOption* opt, mjvScene* scn, |
| int instance) { |
| if (!opt->flags[mjVIS_SDFITER]) { |
| return; |
| } |
| if (npoints_.empty()) { |
| return; |
| } |
| int tot = 0, n = 0, g = 0; |
| for (int i = 0; i < m->ngeom; i++) { |
| if (m->geom_plugin[i] == instance) { |
| g = i; |
| break; |
| } |
| } |
| mjtNum* points = points_.data(); |
| int* npoints = npoints_.data(); |
| int niter = npoints_.size(); |
| mjtNum geom_mat[9], offset[3], rotation[9], from[3], to[3]; |
| mjtNum* geom_xpos = d->geom_xpos + 3*g; |
| mjtNum* geom_xmat = d->geom_xmat + 9*g; |
| mjtNum* geom_pos = m->geom_pos + 3*g; |
| mjtNum* geom_quat = m->geom_quat + 4*g; |
| mju_quat2Mat(geom_mat, geom_quat); |
| mju_mulMatMatT(rotation, geom_xmat, geom_mat, 3, 3, 3); |
| mju_mulMatVec3(offset, rotation, geom_pos); |
| mju_sub3(offset, geom_xpos, offset); |
|
|
| for (int i = 0; i < niter; i++) { |
| n = npoints[i] - tot; |
| if (!n) { |
| continue; |
| } |
| for (int k = 0; k < 2; k++) { |
| for (int j = 0; j < (k == 0 ? 2 : n-1); j++) { |
| if (scn->ngeom >= scn->maxgeom) { |
| mj_warning((mjData*)d, mjWARN_VGEOMFULL, scn->maxgeom); |
| return; |
| } |
| mjvGeom* thisgeom = scn->geoms + scn->ngeom; |
| mjtNum* p1 = points + (tot + (k == 0 ? (n-1) * j : j))*3; |
| mjtNum* p2 = points + (tot + j + 1)*3; |
| mju_mulMatVec3(from, rotation, p1); |
| mju_addTo3(from, offset); |
| mju_mulMatVec3(to, rotation, p2); |
| mju_addTo3(to, offset); |
| if (k == 0) { |
| float rgba[4] = {static_cast<float>(j > 0), 0, |
| static_cast<float>(j == 0), 1}; |
| mjtNum size = 0.2 * m->stat.meansize; |
| mjv_initGeom(thisgeom, mjGEOM_SPHERE, &size, from, geom_xmat, rgba); |
| } else { |
| mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); |
| thisgeom->objtype = mjOBJ_UNKNOWN; |
| thisgeom->objid = i; |
| thisgeom->category = mjCAT_DECOR; |
| thisgeom->segid = scn->ngeom; |
| to[0] = from[0] + .95*(to[0]-from[0]); |
| to[1] = from[1] + .95*(to[1]-from[1]); |
| to[2] = from[2] + .95*(to[2]-from[2]); |
| mjv_connector(thisgeom, mjGEOM_LINE, 2, from, to); |
| thisgeom->rgba[0] = (j+1.)/(n-1.); |
| thisgeom->rgba[1] = 0; |
| thisgeom->rgba[2] = 1 - (j+1.)/(n-1.); |
| thisgeom->rgba[3] = 1; |
| } |
| scn->ngeom++; |
| } |
| } |
| tot += n; |
| } |
| } |
|
|
| } |
|
|
