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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/xml/xml_native_reader.cc
+11 -6
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@@ -818,7 +818,7 @@ void mjXReader::Parse(XMLElement* root) {
for (XMLElement* section = FirstChildElement(root, "compiler"); section;
section = NextSiblingElement(section, "compiler")) {
Compiler(section, model);
Compiler(section, &model->spec);
}
for (XMLElement* section = FirstChildElement(root, "option"); section;
@@ -909,7 +909,7 @@ void mjXReader::Parse(XMLElement* root) {
// compiler section parser
void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
void mjXReader::Compiler(XMLElement* section, mjmModel* mod) {
string text;
int n;
@@ -945,12 +945,17 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
memcpy(mod->euler, text.c_str(), 3);
}
if (ReadAttrTxt(section, "assetdir", text)) {
mod->meshdir = text;
mod->texturedir = text;
mjm_setString(mod->meshdir, text.c_str());
mjm_setString(mod->texturedir, text.c_str());
}
// meshdir and texturedir take precedence over assetdir
ReadAttrTxt(section, "meshdir", mod->meshdir);
ReadAttrTxt(section, "texturedir", mod->texturedir);
std::string meshdir, texturedir;
if (ReadAttrTxt(section, "meshdir", meshdir)) {
mjm_setString(mod->meshdir, meshdir.c_str());
};
if (ReadAttrTxt(section, "texturedir", texturedir)) {
mjm_setString(mod->texturedir, texturedir.c_str());
}
if (MapValue(section, "discardvisual", &n, bool_map, 2)) {
mod->discardvisual = (n==1);
}