DART  6.10.1
Geom.hpp
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32 
33 #ifndef DART_UTILS_MJCF_DETAIL_GEOM_HPP_
34 #define DART_UTILS_MJCF_DETAIL_GEOM_HPP_
35 
36 #include <tinyxml2.h>
37 
43 
44 namespace dart {
45 namespace utils {
46 namespace MjcfParser {
47 namespace detail {
48 
49 class Body;
50 
51 class Geom final
52 {
53 public:
55  Geom() = default;
56 
58 
59  const std::string& getName() const;
60  GeomType getType() const;
61  int getConType() const;
62  int getConAffinity() const;
63  int getConDim() const;
64  int getGroup() const;
65  int getPriority() const;
66 
67  const Eigen::Vector3d& getSize() const;
68 
69  Eigen::Vector2d getPlaneHalfSize() const;
70 
71  double getSphereRadius() const;
72 
73  double getCapsuleRadius() const;
74  double getCapsuleHalfLength() const;
75  double getCapsuleLength() const;
76 
77  const Eigen::Vector3d& getEllipsoidRadii() const;
78  Eigen::Vector3d getEllipsoidDiameters() const;
79 
80  double getCylinderRadius() const;
81  double getCylinderHalfLength() const;
82  double getCylinderLength() const;
83 
84  const Eigen::Vector3d& getBoxHalfSize() const;
85  Eigen::Vector3d getBoxSize() const;
86 
87  const Eigen::Vector4d& getRGBA() const;
88  const Eigen::Vector3d& getFriction() const;
89 
90  double getMass() const;
91  double getDensity() const;
92  double getVolume() const;
93  const Eigen::Matrix3d& getInertia() const;
94 
95  double getSolMix() const;
96  double getMargine() const;
97  double getGap() const;
98 
99  void setRelativeTransform(const Eigen::Isometry3d& tf);
100  const Eigen::Isometry3d& getRelativeTransform() const;
101 
102  void setWorldTransform(const Eigen::Isometry3d& tf);
103  const Eigen::Isometry3d& getWorldTransform() const;
104 
105  const std::string& getHField() const;
106  const std::string& getMesh() const;
107 
109 
110 private:
111  // Private members used by Body and WorldBody class
112  friend class Body;
113  friend class Worldbody;
114  Errors read(
115  tinyxml2::XMLElement* element,
116  const Defaults& defaults,
117  const GeomAttributes& defaultAttributes);
118 
120  Errors preprocess(const Compiler& compiler);
121 
124  Errors compile(const Compiler& compiler);
125 
127  Errors postprocess(const Body* body, const Compiler& compiler);
128 
129 private:
130  double computeVolume() const;
131  Eigen::Matrix3d computeInertia() const;
132 
134 
136  std::string mName{""};
137 
140 
141  int mConType{1};
142 
143  int mConAffinity{1};
144 
145  int mConDim{3};
146 
147  int mGroup{0};
148 
149  int mPriority{0};
150 
152  Eigen::Vector3d mSize{Eigen::Vector3d::Zero()};
153 
154  Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};
155 
156  Eigen::Vector3d mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};
157 
158  double mMass;
159 
161  double mDensity{1000};
162 
163  double mVolume{0};
164 
165  Eigen::Matrix3d mInertia{Eigen::Matrix3d::Identity()};
166 
169  double mSolMix{1};
170 
173  double mMargin{0};
174 
178  double mGap{0};
179 
180  Eigen::Isometry3d mRelativeTransform{Eigen::Isometry3d::Identity()};
181 
182  Eigen::Isometry3d mWorldTransform{Eigen::Isometry3d::Identity()};
183 
184  std::string mHField;
185  std::string mMesh;
186 
187  double mFitScale{1};
188 };
189 
190 } // namespace detail
191 } // namespace MjcfParser
192 } // namespace utils
193 } // namespace dart
194 
195 #endif // #ifndef DART_UTILS_MJCF_DETAIL_GEOM_HPP_
int getConDim() const
Definition: Geom.cpp:372
double mGap
This attribute is used to enable the generation of inactive contacts, i.e.
Definition: Geom.hpp:178
double getCapsuleLength() const
Definition: Geom.cpp:420
Eigen::Vector3d getEllipsoidDiameters() const
Definition: Geom.cpp:432
const Eigen::Isometry3d & getWorldTransform() const
Definition: Geom.cpp:552
void setRelativeTransform(const Eigen::Isometry3d &tf)
Definition: Geom.cpp:534
double getGap() const
Definition: Geom.cpp:516
Eigen::Vector3d getBoxSize() const
Definition: Geom.cpp:462
Eigen::Isometry3d mRelativeTransform
Definition: Geom.hpp:180
Eigen::Vector4d mRGBA
Definition: Geom.hpp:154
const Eigen::Isometry3d & getRelativeTransform() const
Definition: Geom.cpp:540
Errors postprocess(const Body *body, const Compiler &compiler)
Updates attributes and elements that require the compiled parent element.
Definition: Geom.cpp:316
double getMargine() const
Definition: Geom.cpp:510
double mVolume
Definition: Geom.hpp:163
double getCylinderRadius() const
Definition: Geom.cpp:438
Errors read(tinyxml2::XMLElement *element, const Defaults &defaults, const GeomAttributes &defaultAttributes)
Definition: Geom.cpp:50
Eigen::Vector3d mFriction
Definition: Geom.hpp:156
const std::string & getHField() const
Definition: Geom.cpp:522
GeomType getType() const
Definition: Geom.cpp:354
const std::string & getName() const
Definition: Geom.cpp:348
int mPriority
Definition: Geom.hpp:149
double getCapsuleRadius() const
Definition: Geom.cpp:408
GeomType mType
Type of geometric shape.
Definition: Geom.hpp:139
double mFitScale
Definition: Geom.hpp:187
const Eigen::Vector3d & getBoxHalfSize() const
Definition: Geom.cpp:456
Eigen::Isometry3d mWorldTransform
Definition: Geom.hpp:182
const Eigen::Vector4d & getRGBA() const
Definition: Geom.cpp:468
double mMass
Definition: Geom.hpp:158
const Eigen::Vector3d & getFriction() const
Definition: Geom.cpp:474
const Eigen::Vector3d & getSize() const
Definition: Geom.cpp:390
double getSolMix() const
Definition: Geom.cpp:504
int getPriority() const
Definition: Geom.cpp:384
const std::string & getMesh() const
Definition: Geom.cpp:528
int mGroup
Definition: Geom.hpp:147
double getVolume() const
Definition: Geom.cpp:492
int mConDim
Definition: Geom.hpp:145
std::string mMesh
Definition: Geom.hpp:185
int getConType() const
Definition: Geom.cpp:360
double getMass() const
Definition: Geom.cpp:480
Errors preprocess(const Compiler &compiler)
Updates attributes and elements that doesn't require any other elements.
Definition: Geom.cpp:113
const Eigen::Vector3d & getEllipsoidRadii() const
Definition: Geom.cpp:426
Errors compile(const Compiler &compiler)
Updates attributes and elements that require the preprocessed child elements of this <geom>.
Definition: Geom.cpp:309
int getConAffinity() const
Definition: Geom.cpp:366
double getCapsuleHalfLength() const
Definition: Geom.cpp:414
double getCylinderHalfLength() const
Definition: Geom.cpp:444
double mMargin
Distance threshold below which contacts are detected and included in the global array mjData....
Definition: Geom.hpp:173
Eigen::Matrix3d mInertia
Definition: Geom.hpp:165
double mSolMix
Weight used for averaging of contact parameters, and interacts with the priority attribute.
Definition: Geom.hpp:169
double getSphereRadius() const
Definition: Geom.cpp:402
int getGroup() const
Definition: Geom.cpp:378
Eigen::Vector3d mSize
Geom size parameters.
Definition: Geom.hpp:152
double getDensity() const
Definition: Geom.cpp:486
int mConAffinity
Definition: Geom.hpp:143
GeomAttributes mAttributes
Definition: Geom.hpp:133
void setWorldTransform(const Eigen::Isometry3d &tf)
Definition: Geom.cpp:546
std::string mHField
Definition: Geom.hpp:184
double mDensity
Material density used to compute the geom mass and inertia.
Definition: Geom.hpp:161
std::string mName
Name of the geom.
Definition: Geom.hpp:136
Eigen::Matrix3d computeInertia() const
Definition: Geom.cpp:583
const Eigen::Matrix3d & getInertia() const
Definition: Geom.cpp:498
Eigen::Vector2d getPlaneHalfSize() const
Definition: Geom.cpp:396
double computeVolume() const
Definition: Geom.cpp:558
double getCylinderLength() const
Definition: Geom.cpp:450
int mConType
Definition: Geom.hpp:141
Geom()=default
Default constructor.
Definition: Worldbody.hpp:54
GeomType
Definition: Types.hpp:119
std::vector< Error > Errors
Definition: Error.hpp:85
Definition: BulletCollisionDetector.cpp:65
Intermediate raw data read from the XML file.
Definition: GeomAttributes.hpp:53