mujoco

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## Signed distance function (SDF) plugins

These are first-party plugins that implement implicit geometries using SDFs. They can be applied to **geoms** and
**meshes** (in the **asset** section). Sample models can be found in [this folder](../../model/plugin/sdf/).

### Bolt

Implemented in [bolt.cc](bolt.cc). Example usage in [nutbolt.xml](../../model/plugin/sdf/nutbolt.xml).

This plugin implements a bolt with a hexagonal head, similar to https://www.shadertoy.com/view/XtffzX.

Parameters:

   - `radius` [m]: bolt radius (default `0.26`).

### Bowl

Implemented in [bowl.cc](bowl.cc). Example usage in [bowl.xml](../../model/plugin/sdf/bowl.xml).

The plugin implements a cut hollow sphere from https://www.shadertoy.com/view/7tVXRt.

Parameters:

   - `height` [m]: location of the cut plane (default `0.4`).
   - `radius` [m]: radius of the sphere (default `1`).
   - `thickness` [m]: thickness of the bowl (default `0.02`).

### Gear

Implemented in [gear.cc](gear.cc). Example usage in [gear.xml](../../model/plugin/sdf/gear.xml).

The plugin implements a 3D extrusion of the 2D gear geometry from https://www.shadertoy.com/view/3lG3WR.

Parameters:

   - `alpha` [m]: initial angle of rotation of the gear (default `0`).
   - `diameter` [m]: gear diameter (default `2.8`).
   - `teeth` []: number of teeth (default `25`).

### Nut

Implemented in [nut.cc](nut.cc). Example usage in [nutbolt.xml](../../model/plugin/sdf/nutbolt.xml).

This plugin implements a hexagonal nut identical to the bolt head from https://www.shadertoy.com/view/XtffzX.

Parameters:

   - `radius` [m]: nut radius (default `0.26`).

### Torus

Implemented in [torus.cc](torus.cc). Example usage in [torus.xml](../../model/plugin/sdf/torus.xml).

This plugin implements a torus.

Parameters:

  - `radius1` [m]: major radius (default `0.35`).
  - `radius1` [m]: minor radius (default `0.15`).

### How to make your own SDF

Create your `MySDF.h` and `MySDF.cc` files in the SDF folder, where this README is located. Implement your SDF using the
following interface:

```
struct MySDFAttribute {
  static constexpr int nattribute =
  /* insert the number of attributes */;
  static constexpr char const* names[nattribute] =
  /* an array of attributes with the same order as the attribute array in your SDF class */;
  static constexpr mjtNum defaults[nattribute] =
  /* an array of default values for your attributes */;
};

class MySDF {
 public:
  // creates a new MySDF instance or returns null on failure.
  static std::optional<MySDF> Create(const mjModel* m, mjData* d, int instance);
  MySDF(MySDF&&) = default;
  ~MySDF() = default;

  // functions that return the SDF and its gradient at a query point
  mjtNum Distance(const mjtNum point[3]) const;
  void Gradient(mjtNum grad[3], const mjtNum point[3]) const;

  // a call to this needs to be added to register.cc
  static void RegisterPlugin();

  // an array of attributes with the same order as in the struct above
  mjtNum attribute[MySDFAttribute::nattribute];

 private:
  MySDF(const mjModel* m, mjData* d, int instance);
};
```