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Add compiler settings to mjmModel.

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PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
This commit is contained in:
Alessio Quaglino
2024-02-21 01:57:19 -08:00
committed by Copybara-Service
parent abf6d41b7f
commit 042760eba8
12 changed files with 130 additions and 91 deletions
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src/user/user_flexcomp.cc
+5 -5
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@@ -124,7 +124,7 @@ bool mjCFlexcomp::Make(mjCModel* model, mjmBody* body, char* error, int error_sz
}
// compute orientation
const char* alterr = alt.Set(quat, model->degree, model->euler);
const char* alterr = alt.Set(quat, model->spec.degree, model->spec.euler);
if (alterr) {
return comperr(error, alterr, error_sz);
}
@@ -814,7 +814,7 @@ template <typename T> static T* VecToArray(std::vector<T>& vector, bool clear =
// make mesh
bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
// strip path
if (!file.empty() && model->strippath) {
if (!file.empty() && model->spec.strippath) {
file = mjuu_strippath(file);
}
@@ -837,7 +837,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
}
// load resource
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
string filename = mjuu_makefullname(model->modelfiledir, mjm_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
try {
@@ -933,7 +933,7 @@ static int findstring(const char* buffer, int buffer_sz, const char* str) {
// load points and elements from GMSH file
bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
// strip path
if (!file.empty() && model->strippath) {
if (!file.empty() && model->spec.strippath) {
file = mjuu_strippath(file);
}
@@ -943,7 +943,7 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
}
// open resource
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
string filename = mjuu_makefullname(model->modelfiledir, mjm_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
try {