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mujoco / data /plugin /sdf /torus.cc
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// 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.
#include <cstdint>
#include <optional>
#include <utility>
#include <mujoco/mjplugin.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "sdf.h"
#include "torus.h"
namespace mujoco::plugin::sdf {
namespace {
static mjtNum distance(const mjtNum p[3], const mjtNum radius[2]) {
mjtNum q = mju_sqrt(p[0]*p[0] + p[1]*p[1]) - radius[0];
return mju_sqrt(q*q + p[2]*p[2]) - radius[1];
}
} // namespace
// factory function
std::optional<Torus> Torus::Create(
const mjModel* m, mjData* d, int instance) {
if (CheckAttr("radius1", m, instance) && CheckAttr("radius2", m, instance)) {
return Torus(m, d, instance);
} else {
mju_warning("Invalid radius1 or radius2 parameters in Torus plugin");
return std::nullopt;
}
}
// plugin constructor
Torus::Torus(const mjModel* m, mjData* d, int instance) {
SdfDefault<TorusAttribute> defattribute;
for (int i=0; i < TorusAttribute::nattribute; i++) {
attribute[i] = defattribute.GetDefault(
TorusAttribute::names[i],
mj_getPluginConfig(m, instance, TorusAttribute::names[i]));
}
}
// sdf
mjtNum Torus::Distance(const mjtNum point[3]) const {
return distance(point, attribute);
}
// gradient of sdf
void Torus::Gradient(mjtNum grad[3], const mjtNum p[3]) const {
mjtNum len_xy = mju_sqrt(p[0]*p[0] + p[1]*p[1]);
mjtNum q = len_xy - attribute[0];
mjtNum grad_q[2] = { p[0] / len_xy, p[1] / len_xy };
mjtNum len_qz = mju_sqrt(q*q + p[2]*p[2]);
grad[0] = q*grad_q[0] / mjMAX(len_qz, mjMINVAL);
grad[1] = q*grad_q[1] / mjMAX(len_qz, mjMINVAL);
grad[2] = p[2] / mjMAX(len_qz, mjMINVAL);
}
// plugin registration
void Torus::RegisterPlugin() {
mjpPlugin plugin;
mjp_defaultPlugin(&plugin);
plugin.name = "mujoco.sdf.torus";
plugin.capabilityflags |= mjPLUGIN_SDF;
plugin.nattribute = TorusAttribute::nattribute;
plugin.attributes = TorusAttribute::names;
plugin.nstate = +[](const mjModel* m, int instance) { return 0; };
plugin.init = +[](const mjModel* m, mjData* d, int instance) {
auto sdf_or_null = Torus::Create(m, d, instance);
if (!sdf_or_null.has_value()) {
return -1;
}
d->plugin_data[instance] = reinterpret_cast<uintptr_t>(
new Torus(std::move(*sdf_or_null)));
return 0;
};
plugin.destroy = +[](mjData* d, int instance) {
delete reinterpret_cast<Torus*>(d->plugin_data[instance]);
d->plugin_data[instance] = 0;
};
plugin.reset = +[](const mjModel* m, mjtNum* plugin_state, void* plugin_data,
int instance) {
// do nothing
};
plugin.compute =
+[](const mjModel* m, mjData* d, int instance, int capability_bit) {
// do nothing;
};
plugin.sdf_distance =
+[](const mjtNum point[3], const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Torus*>(d->plugin_data[instance]);
return sdf->Distance(point);
};
plugin.sdf_gradient = +[](mjtNum gradient[3], const mjtNum point[3],
const mjData* d, int instance) {
auto* sdf = reinterpret_cast<Torus*>(d->plugin_data[instance]);
sdf->Gradient(gradient, point);
};
plugin.sdf_staticdistance =
+[](const mjtNum point[3], const mjtNum* attributes) {
return distance(point, attributes);
};
plugin.sdf_aabb =
+[](mjtNum aabb[6], const mjtNum* attributes) {
aabb[0] = aabb[1] = aabb[2] = 0;
aabb[3] = aabb[4] = attributes[0] + attributes[1];
aabb[5] = attributes[1];
};
plugin.sdf_attribute =
+[](mjtNum attribute[], const char* name[], const char* value[]) {
SdfDefault<TorusAttribute> defattribute;
defattribute.GetDefaults(attribute, name, value);
};
mjp_registerPlugin(&plugin);
}
} // namespace mujoco::plugin::sdf