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quaglacopybara-github
quagla
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copybara-github
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Remove sdflib plugin and move interpolation to engine_collision_sdf.
Before: ``` Simulation time : 1.71 s Steps per second : 5854 Realtime factor : 11.71 x Time per step : 170.8 µs Newton iters / step : 2.19 Contacts / step : 3.45 Constraints / step : 13.79 Degrees of freedom : 12 Dynamic memory usage : 0.2% of 14M ``` After: ``` Simulation time : 1.41 s Steps per second : 7093 Realtime factor : 14.19 x Time per step : 141.0 µs Newton iters / step : 2.19 Contacts / step : 3.45 Constraints / step : 13.79 Degrees of freedom : 12 Dynamic memory usage : 0.2% of 14M ``` PiperOrigin-RevId: 781087896 Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
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‎model/plugin/sdf/cow.xml‎

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@@ -8,19 +8,12 @@
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<config key="radius2" value="0.05"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sdf.sdflib">
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<instance name="sdf">
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<config key="aabb" value="0"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<texture name="texspot" type="2d" file="spot.png"/>
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<material name="matspot" texture="texspot"/>
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<mesh name="spot" file="asset/spot.obj">
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<plugin instance="sdf"/>
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</mesh>
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<mesh name="spot" file="asset/spot.obj"/>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</geom>
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</body>
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<body euler="90 0 0" pos="0 0 .7">
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<geom type="sdf" name="cow1" mesh="spot" material="matspot">
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<plugin instance="sdf"/>
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</geom>
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<geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
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</body>
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<body pos="0.05 .25 2.2">
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<freejoint/>
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<geom type="sdf" name="cow2" mesh="spot" material="matspot">
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<plugin instance="sdf"/>
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</geom>
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<geom type="sdf" name="cow2" mesh="spot" material="matspot"/>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>

‎plugin/sdf/CMakeLists.txt‎

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@@ -28,8 +28,6 @@ set(MUJOCO_SDF_SRCS
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register.cc
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nut.cc
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nut.h
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sdflib.cc
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sdflib.h
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torus.cc
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torus.h
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)

‎plugin/sdf/README.md‎

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@@ -62,16 +62,6 @@ Parameters:
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- `radius1` [m]: major radius (default `0.35`).
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- `radius1` [m]: minor radius (default `0.15`).
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### SdfLib
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Implemented in [sdflib.cc](sdflib.cc). Example usage in [cow.xml](../../model/plugin/sdf/cow.xml).
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This plugin uses the library [TriangleMeshDistance](https://github.com/InteractiveComputerGraphics/TriangleMeshDistance)
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to compute a voxel-based approximation of a user-specified mesh. The mesh can be arbitrary and not necessarily convex.
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This offers an alternative to convex-decomposed meshes. The performance is likely to be slower than that of analytic
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SDFs, since a cubic approximation has to be evaluated on the convex grid. However, the SDF generation is done
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automatically, simplifying the task of creating an SDF, which can be difficult for complex shapes.
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### How to make your own SDF
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Create your `MySDF.h` and `MySDF.cc` files in the SDF folder, where this README is located. Implement your SDF using the

‎plugin/sdf/register.cc‎

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@@ -17,7 +17,6 @@
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#include "gear.h"
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#include "nut.h"
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#include "torus.h"
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#include "sdflib.h"
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namespace mujoco::plugin::sdf {
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Gear::RegisterPlugin();
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Nut::RegisterPlugin();
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Torus::RegisterPlugin();
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SdfLib::RegisterPlugin();
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}
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} // namespace mujoco::plugin::sdf

‎plugin/sdf/sdflib.cc‎

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