Datasets:

introvoyz041
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mujoco

// Copyright 2022 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_PLUGIN_SDF_SDF_H_
#define MUJOCO_PLUGIN_SDF_SDF_H_

#include <map>
#include <stdexcept>
#include <string>
#include <vector>

#include <mujoco/mujoco.h>

namespace mujoco::plugin::sdf {

inline mjtNum Union(mjtNum a, mjtNum b) {
    return mju_min(a, b);
}

inline mjtNum Intersection(mjtNum a, mjtNum b) {
    return mju_max(a, b);
}

inline mjtNum Subtraction(mjtNum a, mjtNum b) {
    return mju_max(a, -b);
}

inline mjtNum Fract(mjtNum x) {
  return x - floor(x);
}

// reads numeric attributes
bool CheckAttr(const char* name, const mjModel* m, int instance);

// converts attributes to numeric or returns default if not present
template <typename T>
class SdfDefault {
 public:
  SdfDefault() {
    for (int i = 0; i < T::nattribute; i++) {
      default_[T::names[i]] = T::defaults[i];
    }
  }

  // get a single default value
  mjtNum GetDefault(const char* name, const char* value) {
    if (std::string(value).empty()) {
      return default_[name];
    }
    try {
      mjtNum num = std::stod(value);
      return num;
    } catch (const std::invalid_argument& e) {
      mju_error("invalid attribute value for '%s'", name);
      return 0;
    }
  }

  // populate attribute array
  void GetDefaults(mjtNum* attribute, const char* names[],
                   const char* values[]) {
    for (int i = 0; i < default_.size(); i++) {
      attribute[i] = GetDefault(names[i], values[i]);
    }
  }

 private:
  std::map<std::string, mjtNum> default_;
};

// stores the history of gradient descent iterations
class SdfVisualizer {
 public:
  SdfVisualizer();

  void Visualize(const mjModel* m, const mjData* d, const mjvOption* opt,
                 mjvScene* scn, int instance);

  void AddPoint(const mjtNum point[3]);
  void Reset();
  void Next();  // adds a new gradient descent trajectory to be visualized

 private:
  std::vector<mjtNum> points_;  // query points
  std::vector<int> npoints_;    // number of iterations from the starting point
};

}  // namespace mujoco::plugin::sdf

#endif  // MUJOCO_PLUGIN_SDF_SDF_H_

	// Copyright 2022 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_PLUGIN_SDF_SDF_H_
	#define MUJOCO_PLUGIN_SDF_SDF_H_

	#include <map>
	#include <stdexcept>
	#include <string>
	#include <vector>

	#include <mujoco/mujoco.h>

	namespace mujoco::plugin::sdf {

	inline mjtNum Union(mjtNum a, mjtNum b) {
	return mju_min(a, b);
	}

	inline mjtNum Intersection(mjtNum a, mjtNum b) {
	return mju_max(a, b);
	}

	inline mjtNum Subtraction(mjtNum a, mjtNum b) {
	return mju_max(a, -b);
	}

	inline mjtNum Fract(mjtNum x) {
	return x - floor(x);
	}

	// reads numeric attributes
	bool CheckAttr(const char* name, const mjModel* m, int instance);

	// converts attributes to numeric or returns default if not present
	template <typename T>
	class SdfDefault {
	public:
	SdfDefault() {
	for (int i = 0; i < T::nattribute; i++) {
	default_[T::names[i]] = T::defaults[i];
	}
	}

	// get a single default value
	mjtNum GetDefault(const char* name, const char* value) {
	if (std::string(value).empty()) {
	return default_[name];
	}
	try {
	mjtNum num = std::stod(value);
	return num;
	} catch (const std::invalid_argument& e) {
	mju_error("invalid attribute value for '%s'", name);
	return 0;
	}
	}

	// populate attribute array
	void GetDefaults(mjtNum* attribute, const char* names[],
	const char* values[]) {
	for (int i = 0; i < default_.size(); i++) {
	attribute[i] = GetDefault(names[i], values[i]);
	}
	}

	private:
	std::map<std::string, mjtNum> default_;
	};

	// stores the history of gradient descent iterations
	class SdfVisualizer {
	public:
	SdfVisualizer();

	void Visualize(const mjModel* m, const mjData* d, const mjvOption* opt,
	mjvScene* scn, int instance);

	void AddPoint(const mjtNum point[3]);
	void Reset();
	void Next(); // adds a new gradient descent trajectory to be visualized

	private:
	std::vector<mjtNum> points_; // query points
	std::vector<int> npoints_; // number of iterations from the starting point
	};

	} // namespace mujoco::plugin::sdf

	#endif // MUJOCO_PLUGIN_SDF_SDF_H_