Declare loop variables inside for loop in C++ files.
PiperOrigin-RevId: 518852339 Change-Id: I0174d873d89e48f11b816d337728f213c2798248
This commit is contained in:
Nimrod Gileadi
committed by
Copybara-Service
Copybara-Service
parent
145fe7f354
commit
0e7e299bf6
+150
-168
@@ -181,29 +181,27 @@ mjCModel::mjCModel() {
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// destructor
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mjCModel::~mjCModel() {
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unsigned int i;
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// delete kinematic tree and all objects allocated in it
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delete bodies[0];
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// delete objects allocated in mjCModel
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for (i=0; i<meshes.size(); i++) delete meshes[i];
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for (i=0; i<skins.size(); i++) delete skins[i];
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for (i=0; i<hfields.size(); i++) delete hfields[i];
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for (i=0; i<textures.size(); i++) delete textures[i];
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for (i=0; i<materials.size(); i++) delete materials[i];
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for (i=0; i<pairs.size(); i++) delete pairs[i];
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for (i=0; i<excludes.size(); i++) delete excludes[i];
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for (i=0; i<equalities.size(); i++) delete equalities[i];
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for (i=0; i<tendons.size(); i++) delete tendons[i]; // also deletes wraps
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for (i=0; i<actuators.size(); i++) delete actuators[i];
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for (i=0; i<sensors.size(); i++) delete sensors[i];
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for (i=0; i<numerics.size(); i++) delete numerics[i];
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for (i=0; i<texts.size(); i++) delete texts[i];
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for (i=0; i<tuples.size(); i++) delete tuples[i];
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for (i=0; i<keys.size(); i++) delete keys[i];
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for (i=0; i<plugins.size(); i++) delete plugins[i];
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for (i=0; i<defaults.size(); i++) delete defaults[i];
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for (int i=0; i<meshes.size(); i++) delete meshes[i];
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for (int i=0; i<skins.size(); i++) delete skins[i];
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for (int i=0; i<hfields.size(); i++) delete hfields[i];
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for (int i=0; i<textures.size(); i++) delete textures[i];
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for (int i=0; i<materials.size(); i++) delete materials[i];
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for (int i=0; i<pairs.size(); i++) delete pairs[i];
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for (int i=0; i<excludes.size(); i++) delete excludes[i];
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for (int i=0; i<equalities.size(); i++) delete equalities[i];
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for (int i=0; i<tendons.size(); i++) delete tendons[i]; // also deletes wraps
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for (int i=0; i<actuators.size(); i++) delete actuators[i];
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for (int i=0; i<sensors.size(); i++) delete sensors[i];
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for (int i=0; i<numerics.size(); i++) delete numerics[i];
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for (int i=0; i<texts.size(); i++) delete texts[i];
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for (int i=0; i<tuples.size(); i++) delete tuples[i];
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for (int i=0; i<keys.size(); i++) delete keys[i];
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for (int i=0; i<plugins.size(); i++) delete plugins[i];
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for (int i=0; i<defaults.size(); i++) delete defaults[i];
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// clear pointer lists created in model construction
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meshes.clear();
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@@ -705,32 +703,28 @@ bool mjCModel::IsNullPose(const mjtNum* pos, const mjtNum* quat) {
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// make lists of objects in tree: bodies, geoms, joints, sites, cameras, lights
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void mjCModel::MakeLists(mjCBody* body) {
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unsigned int i;
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// add this body if not world
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if (body!=bodies[0]) {
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bodies.push_back(body);
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}
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// add body's geoms, joints, sites, cameras, lights
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for (i=0; i<body->geoms.size(); i++) geoms.push_back(body->geoms[i]);
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for (i=0; i<body->joints.size(); i++) joints.push_back(body->joints[i]);
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for (i=0; i<body->sites.size(); i++) sites.push_back(body->sites[i]);
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for (i=0; i<body->cameras.size(); i++) cameras.push_back(body->cameras[i]);
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for (i=0; i<body->lights.size(); i++) lights.push_back(body->lights[i]);
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for (int i=0; i<body->geoms.size(); i++) geoms.push_back(body->geoms[i]);
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for (int i=0; i<body->joints.size(); i++) joints.push_back(body->joints[i]);
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for (int i=0; i<body->sites.size(); i++) sites.push_back(body->sites[i]);
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for (int i=0; i<body->cameras.size(); i++) cameras.push_back(body->cameras[i]);
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for (int i=0; i<body->lights.size(); i++) lights.push_back(body->lights[i]);
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// recursive call to all child bodies
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for (i=0; i<body->bodies.size(); i++) MakeLists(body->bodies[i]);
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for (int i=0; i<body->bodies.size(); i++) MakeLists(body->bodies[i]);
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}
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// index assets
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void mjCModel::IndexAssets(void) {
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unsigned int i;
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// assets referenced in geoms
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for (i=0; i<geoms.size(); i++) {
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for (int i=0; i<geoms.size(); i++) {
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mjCGeom* pgeom = geoms[i];
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// find material by name
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@@ -765,7 +759,7 @@ void mjCModel::IndexAssets(void) {
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}
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// assets referenced in skins
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for (i=0; i<skins.size(); i++) {
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for (int i=0; i<skins.size(); i++) {
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mjCSkin* pskin = skins[i];
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// find material by name
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@@ -780,7 +774,7 @@ void mjCModel::IndexAssets(void) {
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}
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// materials referenced in sites
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for (i=0; i<sites.size(); i++) {
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for (int i=0; i<sites.size(); i++) {
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mjCSite* psite = sites[i];
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// find material by name
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@@ -795,7 +789,7 @@ void mjCModel::IndexAssets(void) {
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}
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// materials referenced in tendons
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for (i=0; i<tendons.size(); i++) {
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for (int i=0; i<tendons.size(); i++) {
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mjCTendon* pten = tendons[i];
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// find material by name
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@@ -810,7 +804,7 @@ void mjCModel::IndexAssets(void) {
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}
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// textures referenced in materials
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for (i=0; i<materials.size(); i++) {
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for (int i=0; i<materials.size(); i++) {
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mjCMaterial* pmat = materials[i];
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// find texture by name
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@@ -830,10 +824,9 @@ void mjCModel::IndexAssets(void) {
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// if asset name is missing, set to filename
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void mjCModel::SetDefaultNames(void) {
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string stripped;
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unsigned int i;
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// meshes
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for (i=0; i<meshes.size(); i++) {
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for (int i=0; i<meshes.size(); i++) {
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if (meshes[i]->name.empty()) {
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stripped = mjuu_strippath(meshes[i]->file);
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meshes[i]->name = mjuu_stripext(stripped);
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@@ -846,7 +839,7 @@ void mjCModel::SetDefaultNames(void) {
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}
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// skins
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for (i=0; i<skins.size(); i++) {
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for (int i=0; i<skins.size(); i++) {
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if (skins[i]->name.empty()) {
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stripped = mjuu_strippath(skins[i]->file);
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skins[i]->name = mjuu_stripext(stripped);
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@@ -854,7 +847,7 @@ void mjCModel::SetDefaultNames(void) {
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}
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// hfields
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for (i=0; i<hfields.size(); i++) {
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for (int i=0; i<hfields.size(); i++) {
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if (hfields[i]->name.empty()) {
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stripped = mjuu_strippath(hfields[i]->file);
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hfields[i]->name = mjuu_stripext(stripped);
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@@ -867,7 +860,7 @@ void mjCModel::SetDefaultNames(void) {
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}
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// textures
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for (i=0; i<textures.size(); i++) {
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for (int i=0; i<textures.size(); i++) {
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if (textures[i]->name.empty()) {
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stripped = mjuu_strippath(textures[i]->file);
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textures[i]->name = mjuu_stripext(stripped);
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@@ -880,7 +873,7 @@ void mjCModel::SetDefaultNames(void) {
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}
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// materials: name check only
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for (i=0; i<materials.size(); i++) {
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for (int i=0; i<materials.size(); i++) {
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if (materials[i]->name.empty()) {
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throw mjCError(materials[i], "empty name in material");
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}
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@@ -895,8 +888,6 @@ const int nVEL[4] = {6, 3, 1, 1};
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// set array sizes
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void mjCModel::SetSizes(void) {
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int i, j;
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// set from object list sizes
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nbody = (int)bodies.size();
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njnt = (int)joints.size();
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@@ -921,13 +912,13 @@ void mjCModel::SetSizes(void) {
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nplugin = (int)plugins.size();
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// nq, nv
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for (i=0; i<njnt; i++) {
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for (int i=0; i<njnt; i++) {
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nq += nPOS[joints[i]->type];
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nv += nVEL[joints[i]->type];
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}
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// nu, na
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for (i=0; i<(int)actuators.size(); i++) {
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for (int i=0; i<(int)actuators.size(); i++) {
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if (actuators[i]->dyntype == mjDYN_NONE) {
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nu++;
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} else {
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@@ -937,12 +928,12 @@ void mjCModel::SetSizes(void) {
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}
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// nbvh
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for (i=0; i<nbody; i++) {
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for (int i=0; i<nbody; i++) {
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nbvh += bodies[i]->nbvh;
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}
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// nmeshvert, nmeshface, nmeshtexcoord, nmeshgraph
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for (i=0; i<nmesh; i++) {
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for (int i=0; i<nmesh; i++) {
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nmeshvert += meshes[i]->nvert;
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nmeshnormal += meshes[i]->nnormal;
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nmeshface += meshes[i]->nface;
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@@ -951,67 +942,67 @@ void mjCModel::SetSizes(void) {
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}
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// nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert
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for (i=0; i<nskin; i++) {
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for (int i=0; i<nskin; i++) {
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nskinvert += skins[i]->vert.size()/3;
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nskintexvert += skins[i]->texcoord.size()/2;
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nskinface += skins[i]->face.size()/3;
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nskinbone += skins[i]->bodyid.size();
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for (j=0; j<skins[i]->bodyid.size(); j++) {
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for (int j=0; j<skins[i]->bodyid.size(); j++) {
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nskinbonevert += skins[i]->vertid[j].size();
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}
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}
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// nhfielddata
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for (i=0; i<nhfield; i++) nhfielddata += hfields[i]->nrow * hfields[i]->ncol;
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for (int i=0; i<nhfield; i++) nhfielddata += hfields[i]->nrow * hfields[i]->ncol;
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// ntexdata
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for (i=0; i<ntex; i++) ntexdata += 3 * textures[i]->width * textures[i]->height;
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for (int i=0; i<ntex; i++) ntexdata += 3 * textures[i]->width * textures[i]->height;
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// nwrap
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for (i=0; i<ntendon; i++) nwrap += (int)tendons[i]->path.size();
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for (int i=0; i<ntendon; i++) nwrap += (int)tendons[i]->path.size();
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// nsensordata
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for (i=0; i<nsensor; i++) nsensordata += sensors[i]->dim;
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for (int i=0; i<nsensor; i++) nsensordata += sensors[i]->dim;
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// nnumericdata
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for (i=0; i<nnumeric; i++) nnumericdata += numerics[i]->size;
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for (int i=0; i<nnumeric; i++) nnumericdata += numerics[i]->size;
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// ntextdata
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for (i=0; i<ntext; i++) ntextdata += (int)texts[i]->data.size() + 1;
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for (int i=0; i<ntext; i++) ntextdata += (int)texts[i]->data.size() + 1;
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// ntupledata
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for (i=0; i<ntuple; i++) ntupledata += (int)tuples[i]->objtype.size();
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for (int i=0; i<ntuple; i++) ntupledata += (int)tuples[i]->objtype.size();
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// npluginattr
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for (i=0; i<nplugin; i++) npluginattr += (int)plugins[i]->flattened_attributes.size();
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for (int i=0; i<nplugin; i++) npluginattr += (int)plugins[i]->flattened_attributes.size();
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// nnames
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nnames = (int)modelname.size() + 1;
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for (i=0; i<nbody; i++) nnames += (int)bodies[i]->name.length() + 1;
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for (i=0; i<njnt; i++) nnames += (int)joints[i]->name.length() + 1;
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for (i=0; i<ngeom; i++) nnames += (int)geoms[i]->name.length() + 1;
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for (i=0; i<nsite; i++) nnames += (int)sites[i]->name.length() + 1;
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for (i=0; i<ncam; i++) nnames += (int)cameras[i]->name.length() + 1;
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for (i=0; i<nlight; i++) nnames += (int)lights[i]->name.length() + 1;
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for (i=0; i<nmesh; i++) nnames += (int)meshes[i]->name.length() + 1;
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for (i=0; i<nskin; i++) nnames += (int)skins[i]->name.length() + 1;
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for (i=0; i<nhfield; i++) nnames += (int)hfields[i]->name.length() + 1;
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for (i=0; i<ntex; i++) nnames += (int)textures[i]->name.length() + 1;
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for (i=0; i<nmat; i++) nnames += (int)materials[i]->name.length() + 1;
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for (i=0; i<npair; i++) nnames += (int)pairs[i]->name.length() + 1;
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for (i=0; i<nexclude; i++) nnames += (int)excludes[i]->name.length() + 1;
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for (i=0; i<neq; i++) nnames += (int)equalities[i]->name.length() + 1;
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for (i=0; i<ntendon; i++) nnames += (int)tendons[i]->name.length() + 1;
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for (i=0; i<nu; i++) nnames += (int)actuators[i]->name.length() + 1;
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for (i=0; i<nsensor; i++) nnames += (int)sensors[i]->name.length() + 1;
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for (i=0; i<nnumeric; i++) nnames += (int)numerics[i]->name.length() + 1;
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for (i=0; i<ntext; i++) nnames += (int)texts[i]->name.length() + 1;
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for (i=0; i<ntuple; i++) nnames += (int)tuples[i]->name.length() + 1;
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for (i=0; i<nkey; i++) nnames += (int)keys[i]->name.length() + 1;
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for (i=0; i<nplugin; i++) nnames += (int)plugins[i]->name.length() + 1;
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for (int i=0; i<nbody; i++) nnames += (int)bodies[i]->name.length() + 1;
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for (int i=0; i<njnt; i++) nnames += (int)joints[i]->name.length() + 1;
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for (int i=0; i<ngeom; i++) nnames += (int)geoms[i]->name.length() + 1;
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for (int i=0; i<nsite; i++) nnames += (int)sites[i]->name.length() + 1;
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for (int i=0; i<ncam; i++) nnames += (int)cameras[i]->name.length() + 1;
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for (int i=0; i<nlight; i++) nnames += (int)lights[i]->name.length() + 1;
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for (int i=0; i<nmesh; i++) nnames += (int)meshes[i]->name.length() + 1;
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for (int i=0; i<nskin; i++) nnames += (int)skins[i]->name.length() + 1;
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for (int i=0; i<nhfield; i++) nnames += (int)hfields[i]->name.length() + 1;
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for (int i=0; i<ntex; i++) nnames += (int)textures[i]->name.length() + 1;
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for (int i=0; i<nmat; i++) nnames += (int)materials[i]->name.length() + 1;
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for (int i=0; i<npair; i++) nnames += (int)pairs[i]->name.length() + 1;
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for (int i=0; i<nexclude; i++) nnames += (int)excludes[i]->name.length() + 1;
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for (int i=0; i<neq; i++) nnames += (int)equalities[i]->name.length() + 1;
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for (int i=0; i<ntendon; i++) nnames += (int)tendons[i]->name.length() + 1;
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for (int i=0; i<nu; i++) nnames += (int)actuators[i]->name.length() + 1;
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for (int i=0; i<nsensor; i++) nnames += (int)sensors[i]->name.length() + 1;
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for (int i=0; i<nnumeric; i++) nnames += (int)numerics[i]->name.length() + 1;
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for (int i=0; i<ntext; i++) nnames += (int)texts[i]->name.length() + 1;
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for (int i=0; i<ntuple; i++) nnames += (int)tuples[i]->name.length() + 1;
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for (int i=0; i<nkey; i++) nnames += (int)keys[i]->name.length() + 1;
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for (int i=0; i<nplugin; i++) nnames += (int)plugins[i]->name.length() + 1;
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// nemax
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for (i=0; i<neq; i++)
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for (int i=0; i<neq; i++)
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if (equalities[i]->type==mjEQ_CONNECT) {
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nemax += 3;
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} else if (equalities[i]->type==mjEQ_WELD) {
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@@ -1092,8 +1083,6 @@ void* LRfunc(void* arg) {
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// compute actuator lengthrange
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void mjCModel::LengthRange(mjModel* m, mjData* data) {
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int i;
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// save options and modify
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mjOption saveopt = m->opt;
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m->opt.disableflags = mjDSBL_FRICTIONLOSS | mjDSBL_CONTACT | mjDSBL_PASSIVE |
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@@ -1107,7 +1096,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
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// count actuators that need computation
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int cnt = 0;
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for (i=0; i<m->nu; i++) {
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for (int i=0; i<m->nu; i++) {
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// skip depending on mode and type
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int ismuscle = (m->actuator_gaintype[i]==mjGAIN_MUSCLE ||
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m->actuator_biastype[i]==mjBIAS_MUSCLE);
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@@ -1132,7 +1121,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
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// single thread
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if (!usethread || cnt<2 || nthread<2) {
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char err[200];
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for (i=0; i<m->nu; i++) {
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for (int i=0; i<m->nu; i++) {
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if (!mj_setLengthRange(m, data, i, &LRopt, err, 200)) {
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throw mjCError(0, err);
|
||||
}
|
||||
@@ -1144,7 +1133,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
|
||||
// allocate mjData for each thread
|
||||
char err[16][200];
|
||||
mjData* pdata[16] = {data};
|
||||
for (i=1; i<nthread; i++) {
|
||||
for (int i=1; i<nthread; i++) {
|
||||
pdata[i] = mj_makeData(m);
|
||||
}
|
||||
|
||||
@@ -1156,7 +1145,7 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
|
||||
|
||||
// prepare thread function arguments, clear errors
|
||||
LRThreadArg arg[16];
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
LRThreadArg temp = {m, pdata[i], i*num, num, &LRopt, err[i], 200};
|
||||
arg[i] = temp;
|
||||
err[i][0] = 0;
|
||||
@@ -1166,12 +1155,12 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
|
||||
#if defined(_WIN32) || defined(__APPLE__)
|
||||
// launch threads
|
||||
thread th[16];
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
th[i] = thread(LRfunc, arg+i);
|
||||
}
|
||||
|
||||
// wait for threads to finish
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
th[i].join();
|
||||
}
|
||||
|
||||
@@ -1179,23 +1168,23 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
|
||||
#else
|
||||
// launch threads
|
||||
pthread_t th[16];
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
pthread_create(th+i, NULL, LRfunc, arg+i);
|
||||
}
|
||||
|
||||
// wait for threads to finish
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
pthread_join(th[i], NULL);
|
||||
}
|
||||
#endif
|
||||
|
||||
// free mjData allocated here
|
||||
for (i=1; i<nthread; i++) {
|
||||
for (int i=1; i<nthread; i++) {
|
||||
mj_deleteData(pdata[i]);
|
||||
}
|
||||
|
||||
// report first error
|
||||
for (i=0; i<nthread; i++) {
|
||||
for (int i=0; i<nthread; i++) {
|
||||
if (err[i][0]) {
|
||||
throw mjCError(0, err[i]);
|
||||
}
|
||||
@@ -1326,14 +1315,13 @@ void mjCModel::CopyNames(mjModel* m) {
|
||||
|
||||
// copy objects inside kinematic tree
|
||||
void mjCModel::CopyTree(mjModel* m) {
|
||||
int i, j, j1;
|
||||
int jntadr = 0; // addresses in global arrays
|
||||
int dofadr = 0;
|
||||
int qposadr = 0;
|
||||
int bvh_adr = 0;
|
||||
|
||||
// main loop over bodies
|
||||
for (i=0; i<nbody; i++) {
|
||||
for (int i=0; i<nbody; i++) {
|
||||
// get body and parent pointers
|
||||
mjCBody* pb = bodies[i];
|
||||
mjCBody* par = bodies[pb->parentid];
|
||||
@@ -1370,7 +1358,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// count free joints
|
||||
int cntfree = 0;
|
||||
for (j=0; j<(int)pb->joints.size(); j++) {
|
||||
for (int j=0; j<(int)pb->joints.size(); j++) {
|
||||
cntfree += (pb->joints[j]->type == mjJNT_FREE);
|
||||
}
|
||||
|
||||
@@ -1396,7 +1384,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
m->body_sameframe[i] = IsNullPose(m->body_ipos+3*i, m->body_iquat+4*i);
|
||||
|
||||
// init simple: sameframe, and (self-root, or parent is fixed child of world)
|
||||
j = m->body_parentid[i];
|
||||
int j = m->body_parentid[i];
|
||||
m->body_simple[i] = (m->body_sameframe[i] &&
|
||||
(m->body_rootid[i]==i ||
|
||||
(m->body_parentid[j]==0 &&
|
||||
@@ -1409,7 +1397,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// loop over joints for this body
|
||||
int rotfound = 0;
|
||||
for (j=0; j<(int)pb->joints.size(); j++) {
|
||||
for (int j=0; j<(int)pb->joints.size(); j++) {
|
||||
// get pointer and id
|
||||
mjCJoint* pj = pb->joints[j];
|
||||
int jid = pj->id;
|
||||
@@ -1470,7 +1458,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
}
|
||||
|
||||
// set dof fields for this joint
|
||||
for (j1=0; j1<nVEL[pj->type]; j1++) {
|
||||
for (int j1=0; j1<nVEL[pj->type]; j1++) {
|
||||
// set attributes
|
||||
m->dof_bodyid[dofadr] = pb->id;
|
||||
m->dof_jntid[dofadr] = jid;
|
||||
@@ -1494,7 +1482,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
}
|
||||
|
||||
// loop over geoms for this body
|
||||
for (j=0; j<(int)pb->geoms.size(); j++) {
|
||||
for (int j=0; j<(int)pb->geoms.size(); j++) {
|
||||
// get pointer and id
|
||||
mjCGeom* pg = pb->geoms[j];
|
||||
int gid = pg->id;
|
||||
@@ -1549,7 +1537,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
}
|
||||
|
||||
// loop over sites for this body
|
||||
for (j=0; j<(int)pb->sites.size(); j++) {
|
||||
for (int j=0; j<(int)pb->sites.size(); j++) {
|
||||
// get pointer and id
|
||||
mjCSite* ps = pb->sites[j];
|
||||
int sid = ps->id;
|
||||
@@ -1582,7 +1570,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
}
|
||||
|
||||
// loop over cameras for this body
|
||||
for (j=0; j<(int)pb->cameras.size(); j++) {
|
||||
for (int j=0; j<(int)pb->cameras.size(); j++) {
|
||||
// get pointer and id
|
||||
mjCCamera* pc = pb->cameras[j];
|
||||
int cid = pc->id;
|
||||
@@ -1599,7 +1587,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
}
|
||||
|
||||
// loop over lights for this body
|
||||
for (j=0; j<(int)pb->lights.size(); j++) {
|
||||
for (int j=0; j<(int)pb->lights.size(); j++) {
|
||||
// get pointer and id
|
||||
mjCLight* pl = pb->lights[j];
|
||||
int lid = pl->id;
|
||||
@@ -1629,12 +1617,12 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// compute nM and dof_Madr
|
||||
nM = 0;
|
||||
for (i=0; i<nv; i++) {
|
||||
for (int i=0; i<nv; i++) {
|
||||
// set address of this dof
|
||||
m->dof_Madr[i] = nM;
|
||||
|
||||
// count ancestor dofs including self
|
||||
j = i;
|
||||
int j = i;
|
||||
while (j>=0) {
|
||||
nM++;
|
||||
j = m->dof_parentid[j];
|
||||
@@ -1647,7 +1635,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
m->nD = nD;
|
||||
|
||||
// compute subtreedofs in backward pass over bodies
|
||||
for (i = nbody - 1; i > 0; i--) {
|
||||
for (int i = nbody - 1; i > 0; i--) {
|
||||
// add body dofs to self count
|
||||
bodies[i]->subtreedofs += bodies[i]->dofnum;
|
||||
|
||||
@@ -1662,12 +1650,12 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// compute nB
|
||||
nB = 0;
|
||||
for (i = 0; i < nbody; i++) {
|
||||
for (int i = 0; i < nbody; i++) {
|
||||
// add subtree dofs (including self)
|
||||
nB += bodies[i]->subtreedofs;
|
||||
|
||||
// add dofs in ancestor bodies
|
||||
j = bodies[i]->parentid;
|
||||
int j = bodies[i]->parentid;
|
||||
while (j > 0) {
|
||||
nB += bodies[j]->dofnum;
|
||||
j = bodies[j]->parentid;
|
||||
@@ -1677,7 +1665,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// set dof_simplenum
|
||||
int scnt = 0;
|
||||
for (i=nv-1; i>=0; i--) {
|
||||
for (int i=nv-1; i>=0; i--) {
|
||||
// dof in simple body
|
||||
if (m->body_simple[m->dof_bodyid[i]]) {
|
||||
scnt++;
|
||||
@@ -1696,7 +1684,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
||||
|
||||
// copy objects outside kinematic tree
|
||||
void mjCModel::CopyObjects(mjModel* m) {
|
||||
int i, j, adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
|
||||
int adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
|
||||
int bonevert_adr, graph_adr, data_adr;
|
||||
|
||||
// sizes outside call to mj_makeModel
|
||||
@@ -1712,7 +1700,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
texcoord_adr = 0;
|
||||
face_adr = 0;
|
||||
graph_adr = 0;
|
||||
for (i=0; i<nmesh; i++) {
|
||||
for (int i=0; i<nmesh; i++) {
|
||||
// get pointer
|
||||
mjCMesh* pme = meshes[i];
|
||||
|
||||
@@ -1756,7 +1744,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
texcoord_adr = 0;
|
||||
bone_adr = 0;
|
||||
bonevert_adr = 0;
|
||||
for (i=0; i<nskin; i++) {
|
||||
for (int i=0; i<nskin; i++) {
|
||||
// get pointer
|
||||
mjCSkin* psk = skins[i];
|
||||
|
||||
@@ -1789,7 +1777,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
psk->bodyid.size()*sizeof(int));
|
||||
|
||||
// copy per-bone vertex data, advance vertex counter
|
||||
for (j=0; j<m->skin_bonenum[i]; j++) {
|
||||
for (int j=0; j<m->skin_bonenum[i]; j++) {
|
||||
// set fields
|
||||
m->skin_bonevertadr[bone_adr+j] = bonevert_adr;
|
||||
m->skin_bonevertnum[bone_adr+j] = (int)psk->vertid[j].size();
|
||||
@@ -1813,7 +1801,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// hfields
|
||||
data_adr = 0;
|
||||
for (i=0; i<nhfield; i++) {
|
||||
for (int i=0; i<nhfield; i++) {
|
||||
// get pointer
|
||||
mjCHField* phf = hfields[i];
|
||||
|
||||
@@ -1832,7 +1820,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// textures
|
||||
data_adr = 0;
|
||||
for (i=0; i<ntex; i++) {
|
||||
for (int i=0; i<ntex; i++) {
|
||||
// get pointer
|
||||
mjCTexture* ptex = textures[i];
|
||||
|
||||
@@ -1850,7 +1838,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
}
|
||||
|
||||
// materials
|
||||
for (i=0; i<nmat; i++) {
|
||||
for (int i=0; i<nmat; i++) {
|
||||
// get pointer
|
||||
mjCMaterial* pmat = materials[i];
|
||||
|
||||
@@ -1866,7 +1854,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
}
|
||||
|
||||
// geom pairs to include
|
||||
for (i=0; i<npair; i++) {
|
||||
for (int i=0; i<npair; i++) {
|
||||
m->pair_dim[i] = pairs[i]->condim;
|
||||
m->pair_geom1[i] = pairs[i]->geom1;
|
||||
m->pair_geom2[i] = pairs[i]->geom2;
|
||||
@@ -1879,12 +1867,12 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
}
|
||||
|
||||
// body pairs to exclude
|
||||
for (i=0; i<nexclude; i++) {
|
||||
for (int i=0; i<nexclude; i++) {
|
||||
m->exclude_signature[i] = excludes[i]->signature;
|
||||
}
|
||||
|
||||
// equality constraints
|
||||
for (i=0; i<neq; i++) {
|
||||
for (int i=0; i<neq; i++) {
|
||||
// get pointer
|
||||
mjCEquality* peq = equalities[i];
|
||||
|
||||
@@ -1900,7 +1888,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// tendons and wraps
|
||||
adr = 0;
|
||||
for (i=0; i<ntendon; i++) {
|
||||
for (int i=0; i<ntendon; i++) {
|
||||
// get pointer
|
||||
mjCTendon* pte = tendons[i];
|
||||
|
||||
@@ -1927,7 +1915,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
copyvec(m->tendon_rgba+4*i, pte->rgba, 4);
|
||||
|
||||
// set wraps
|
||||
for (j=0; j<(int)pte->path.size(); j++) {
|
||||
for (int j=0; j<(int)pte->path.size(); j++) {
|
||||
m->wrap_type[adr+j] = pte->path[j]->type;
|
||||
m->wrap_objid[adr+j] = pte->path[j]->objid;
|
||||
m->wrap_prm[adr+j] = (mjtNum)pte->path[j]->prm;
|
||||
@@ -1942,7 +1930,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// actuators
|
||||
adr = 0;
|
||||
for (i=0; i<nu; i++) {
|
||||
for (int i=0; i<nu; i++) {
|
||||
// get pointer
|
||||
mjCActuator* pac = actuators[i];
|
||||
|
||||
@@ -1974,7 +1962,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// sensors
|
||||
adr = 0;
|
||||
for (i=0; i<nsensor; i++) {
|
||||
for (int i=0; i<nsensor; i++) {
|
||||
// get pointer
|
||||
mjCSensor* psen = sensors[i];
|
||||
|
||||
@@ -1998,17 +1986,17 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// numeric fields
|
||||
adr = 0;
|
||||
for (i=0; i<nnumeric; i++) {
|
||||
for (int i=0; i<nnumeric; i++) {
|
||||
// get pointer
|
||||
mjCNumeric* pcu = numerics[i];
|
||||
|
||||
// set fields
|
||||
m->numeric_adr[i] = adr;
|
||||
m->numeric_size[i] = pcu->size;
|
||||
for (j=0; j<(int)pcu->data.size(); j++) {
|
||||
for (int j=0; j<(int)pcu->data.size(); j++) {
|
||||
m->numeric_data[adr+j] = (mjtNum)pcu->data[j];
|
||||
}
|
||||
for (j=(int)pcu->data.size(); j<(int)pcu->size; j++) {
|
||||
for (int j=(int)pcu->data.size(); j<(int)pcu->size; j++) {
|
||||
m->numeric_data[adr+j] = 0;
|
||||
}
|
||||
|
||||
@@ -2018,7 +2006,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// text fields
|
||||
adr = 0;
|
||||
for (i=0; i<ntext; i++) {
|
||||
for (int i=0; i<ntext; i++) {
|
||||
// get pointer
|
||||
mjCText* pte = texts[i];
|
||||
|
||||
@@ -2033,14 +2021,14 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
|
||||
// tuple fields
|
||||
adr = 0;
|
||||
for (i=0; i<ntuple; i++) {
|
||||
for (int i=0; i<ntuple; i++) {
|
||||
// get pointer
|
||||
mjCTuple* ptu = tuples[i];
|
||||
|
||||
// set fields
|
||||
m->tuple_adr[i] = adr;
|
||||
m->tuple_size[i] = (int)ptu->objtype.size();
|
||||
for (j=0; j<m->tuple_size[i]; j++) {
|
||||
for (int j=0; j<m->tuple_size[i]; j++) {
|
||||
m->tuple_objtype[adr+j] = (int)ptu->objtype[j];
|
||||
m->tuple_objid[adr+j] = ptu->objid[j];
|
||||
m->tuple_objprm[adr+j] = (mjtNum)ptu->objprm[j];
|
||||
@@ -2051,7 +2039,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
}
|
||||
|
||||
// copy keyframe data
|
||||
for (i=0; i<nkey; i++) {
|
||||
for (int i=0; i<nkey; i++) {
|
||||
// copy data
|
||||
m->key_time[i] = (mjtNum)keys[i]->time;
|
||||
copyvec(m->key_qpos+i*nq, keys[i]->qpos.data(), nq);
|
||||
@@ -2065,14 +2053,14 @@ void mjCModel::CopyObjects(mjModel* m) {
|
||||
}
|
||||
|
||||
// normalize quaternions in m->key_qpos
|
||||
for (j=0; j<m->njnt; j++) {
|
||||
for (int j=0; j<m->njnt; j++) {
|
||||
if (m->jnt_type[j]==mjJNT_BALL || m->jnt_type[j]==mjJNT_FREE) {
|
||||
mju_normalize4(m->key_qpos+i*nq+m->jnt_qposadr[j]+3*(m->jnt_type[j]==mjJNT_FREE));
|
||||
}
|
||||
}
|
||||
|
||||
// normalize quaternions in m->key_mquat
|
||||
for (j=0; j<nmocap; j++) {
|
||||
for (int j=0; j<nmocap; j++) {
|
||||
mju_normalize4(m->key_mquat+i*4*nmocap+4*j);
|
||||
}
|
||||
|
||||
@@ -2103,35 +2091,33 @@ static void changeframe(double childpos[3], double childquat[4],
|
||||
|
||||
// reindex elements during fuse
|
||||
void mjCModel::FuseReindex(mjCBody* body) {
|
||||
size_t i;
|
||||
|
||||
// set parentid and weldid of children
|
||||
for (i=0; i<body->bodies.size(); i++) {
|
||||
for (int i=0; i<body->bodies.size(); i++) {
|
||||
body->bodies[i]->parentid = body->id;
|
||||
body->bodies[i]->weldid = (!body->bodies[i]->joints.empty() ?
|
||||
body->bodies[i]->id : body->weldid);
|
||||
}
|
||||
|
||||
// joints
|
||||
for (i=0; i<body->joints.size(); i++) {
|
||||
for (int i=0; i<body->joints.size(); i++) {
|
||||
body->joints[i]->id = (int)joints.size();
|
||||
joints.push_back(body->joints[i]);
|
||||
}
|
||||
|
||||
// geoms
|
||||
for (i=0; i<body->geoms.size(); i++) {
|
||||
for (int i=0; i<body->geoms.size(); i++) {
|
||||
body->geoms[i]->id = (int)geoms.size();
|
||||
geoms.push_back(body->geoms[i]);
|
||||
}
|
||||
|
||||
// sites
|
||||
for (i=0; i<body->sites.size(); i++) {
|
||||
for (int i=0; i<body->sites.size(); i++) {
|
||||
body->sites[i]->id = (int)sites.size();
|
||||
sites.push_back(body->sites[i]);
|
||||
}
|
||||
|
||||
// process children recursively
|
||||
for (i=0; i<body->bodies.size(); i++) {
|
||||
for (int i=0; i<body->bodies.size(); i++) {
|
||||
FuseReindex(body->bodies[i]);
|
||||
}
|
||||
}
|
||||
@@ -2140,8 +2126,6 @@ void mjCModel::FuseReindex(mjCBody* body) {
|
||||
|
||||
// fuse static bodies with their parent
|
||||
void mjCModel::FuseStatic(void) {
|
||||
int i, j, k;
|
||||
|
||||
// skip if model has potential to reference elements with changed ids
|
||||
if (!skins.empty() ||
|
||||
!pairs.empty() ||
|
||||
@@ -2157,7 +2141,7 @@ void mjCModel::FuseStatic(void) {
|
||||
}
|
||||
|
||||
// process fusable bodies
|
||||
for (i=1; i<bodies.size(); i++) {
|
||||
for (int i=1; i<bodies.size(); i++) {
|
||||
// get body and parent
|
||||
mjCBody* body = bodies[i];
|
||||
mjCBody* par = bodies[body->parentid];
|
||||
@@ -2195,7 +2179,7 @@ void mjCModel::FuseStatic(void) {
|
||||
// compute total mass
|
||||
par->mass = 0;
|
||||
mjuu_setvec(par->locipos, 0, 0, 0);
|
||||
for (j=0; j<2; j++) {
|
||||
for (int j=0; j<2; j++) {
|
||||
par->mass += mass[j];
|
||||
par->locipos[0] += mass[j]*ipos[j][0];
|
||||
par->locipos[1] += mass[j]*ipos[j][1];
|
||||
@@ -2219,7 +2203,7 @@ void mjCModel::FuseStatic(void) {
|
||||
|
||||
// add inertias
|
||||
double toti[6] = {0, 0, 0, 0, 0, 0};
|
||||
for (j=0; j<2; j++) {
|
||||
for (int j=0; j<2; j++) {
|
||||
double inertA[6], inertB[6];
|
||||
double dpos[3] = {
|
||||
ipos[j][0] - par->locipos[0],
|
||||
@@ -2229,7 +2213,7 @@ void mjCModel::FuseStatic(void) {
|
||||
|
||||
mjuu_globalinertia(inertA, inertia[j], iquat[j]);
|
||||
mjuu_offcenter(inertB, mass[j], dpos);
|
||||
for (k=0; k<6; k++) {
|
||||
for (int k=0; k<6; k++) {
|
||||
toti[k] += inertA[k] + inertB[k];
|
||||
}
|
||||
}
|
||||
@@ -2247,7 +2231,7 @@ void mjCModel::FuseStatic(void) {
|
||||
//------------- replace body with its children in parent body list
|
||||
|
||||
// change frames of child bodies
|
||||
for (j=0; j<body->bodies.size(); j++)
|
||||
for (int j=0; j<body->bodies.size(); j++)
|
||||
changeframe(body->bodies[j]->locpos, body->bodies[j]->locquat,
|
||||
body->locpos, body->locquat);
|
||||
|
||||
@@ -2280,7 +2264,7 @@ void mjCModel::FuseStatic(void) {
|
||||
//------------- assign geoms and sites to parent, change frames
|
||||
|
||||
// geoms
|
||||
for (j=0; j<body->geoms.size(); j++) {
|
||||
for (int j=0; j<body->geoms.size(); j++) {
|
||||
// assign
|
||||
body->geoms[j]->body = par;
|
||||
par->geoms.push_back(body->geoms[j]);
|
||||
@@ -2290,7 +2274,7 @@ void mjCModel::FuseStatic(void) {
|
||||
}
|
||||
|
||||
// sites
|
||||
for (j=0; j<body->sites.size(); j++) {
|
||||
for (int j=0; j<body->sites.size(); j++) {
|
||||
// assign
|
||||
body->sites[j]->body = par;
|
||||
par->sites.push_back(body->sites[j]);
|
||||
@@ -2321,7 +2305,7 @@ void mjCModel::FuseStatic(void) {
|
||||
//------------- re-index bodies, joints, geoms, sites
|
||||
|
||||
// body ids
|
||||
for (j=0; j<bodies.size(); j++) {
|
||||
for (int j=0; j<bodies.size(); j++) {
|
||||
bodies[j]->id = j;
|
||||
}
|
||||
|
||||
@@ -2872,8 +2856,6 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
||||
|
||||
// get numeric data back from mjModel
|
||||
bool mjCModel::CopyBack(const mjModel* m) {
|
||||
int i, j;
|
||||
|
||||
// check for null pointer
|
||||
if (!m) {
|
||||
errInfo = mjCError(0, "mjModel pointer is null in CopyBack");
|
||||
@@ -2905,7 +2887,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
visual = m->vis;
|
||||
|
||||
// qpos0, qpos_spring
|
||||
for (i=0; i<njnt; i++) {
|
||||
for (int i=0; i<njnt; i++) {
|
||||
switch (joints[i]->type) {
|
||||
case mjJNT_FREE:
|
||||
copyvec(bodies[m->jnt_bodyid[i]]->pos, m->qpos0+m->jnt_qposadr[i], 3);
|
||||
@@ -2927,7 +2909,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
|
||||
// body
|
||||
mjCBody* pb;
|
||||
for (i=0; i<nbody; i++) {
|
||||
for (int i=0; i<nbody; i++) {
|
||||
pb = bodies[i];
|
||||
|
||||
copyvec(pb->locpos, m->body_pos+3*i, 3);
|
||||
@@ -2944,7 +2926,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
|
||||
// joint and dof
|
||||
mjCJoint* pj;
|
||||
for (i=0; i<njnt; i++) {
|
||||
for (int i=0; i<njnt; i++) {
|
||||
pj = joints[i];
|
||||
|
||||
// joint data
|
||||
@@ -2961,7 +2943,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// dof data
|
||||
j = m->jnt_dofadr[i];
|
||||
int j = m->jnt_dofadr[i];
|
||||
copyvec(pj->solref_friction, m->dof_solref+mjNREF*j, mjNREF);
|
||||
copyvec(pj->solimp_friction, m->dof_solimp+mjNIMP*j, mjNIMP);
|
||||
pj->armature = (double)m->dof_armature[j];
|
||||
@@ -2971,7 +2953,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
|
||||
// geom
|
||||
mjCGeom* pg;
|
||||
for (i=0; i<ngeom; i++) {
|
||||
for (int i=0; i<ngeom; i++) {
|
||||
pg = geoms[i];
|
||||
|
||||
copyvec(pg->size, m->geom_size+3*i, 3);
|
||||
@@ -2991,7 +2973,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// sites
|
||||
for (i=0; i<nsite; i++) {
|
||||
for (int i=0; i<nsite; i++) {
|
||||
copyvec(sites[i]->size, m->site_size + 3 * i, 3);
|
||||
copyvec(sites[i]->locpos, m->site_pos+3*i, 3);
|
||||
copyvec(sites[i]->locquat, m->site_quat+4*i, 4);
|
||||
@@ -3003,7 +2985,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// cameras
|
||||
for (i=0; i<ncam; i++) {
|
||||
for (int i=0; i<ncam; i++) {
|
||||
copyvec(cameras[i]->pos, m->cam_pos+3*i, 3);
|
||||
copyvec(cameras[i]->quat, m->cam_quat+4*i, 4);
|
||||
cameras[i]->fovy = (double)m->cam_fovy[i];
|
||||
@@ -3015,7 +2997,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// lights
|
||||
for (i=0; i<nlight; i++) {
|
||||
for (int i=0; i<nlight; i++) {
|
||||
copyvec(lights[i]->pos, m->light_pos+3*i, 3);
|
||||
copyvec(lights[i]->dir, m->light_dir+3*i, 3);
|
||||
copyvec(lights[i]->attenuation, m->light_attenuation+3*i, 3);
|
||||
@@ -3027,7 +3009,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// materials
|
||||
for (i=0; i<nmat; i++) {
|
||||
for (int i=0; i<nmat; i++) {
|
||||
copyvec(materials[i]->texrepeat, m->mat_texrepeat+2*i, 2);
|
||||
materials[i]->emission = m->mat_emission[i];
|
||||
materials[i]->specular = m->mat_specular[i];
|
||||
@@ -3037,7 +3019,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// pairs
|
||||
for (i=0; i<npair; i++) {
|
||||
for (int i=0; i<npair; i++) {
|
||||
copyvec(pairs[i]->solref, m->pair_solref+mjNREF*i, mjNREF);
|
||||
copyvec(pairs[i]->solimp, m->pair_solimp+mjNIMP*i, mjNIMP);
|
||||
pairs[i]->margin = (double)m->pair_margin[i];
|
||||
@@ -3046,14 +3028,14 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// equality constraints
|
||||
for (i=0; i<neq; i++) {
|
||||
for (int i=0; i<neq; i++) {
|
||||
copyvec(equalities[i]->data, m->eq_data+mjNEQDATA*i, mjNEQDATA);
|
||||
copyvec(equalities[i]->solref, m->eq_solref+mjNREF*i, mjNREF);
|
||||
copyvec(equalities[i]->solimp, m->eq_solimp+mjNIMP*i, mjNIMP);
|
||||
}
|
||||
|
||||
// tendons
|
||||
for (i=0; i<ntendon; i++) {
|
||||
for (int i=0; i<ntendon; i++) {
|
||||
copyvec(tendons[i]->range, m->tendon_range+2*i, 2);
|
||||
copyvec(tendons[i]->solref_limit, m->tendon_solref_lim+mjNREF*i, mjNREF);
|
||||
copyvec(tendons[i]->solimp_limit, m->tendon_solimp_lim+mjNIMP*i, mjNIMP);
|
||||
@@ -3073,7 +3055,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
|
||||
// actuators
|
||||
mjCActuator* pa;
|
||||
for (i=0; i<nu; i++) {
|
||||
for (int i=0; i<nu; i++) {
|
||||
pa = actuators[i];
|
||||
|
||||
copyvec(pa->dynprm, m->actuator_dynprm+i*mjNDYN, mjNDYN);
|
||||
@@ -3092,7 +3074,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// sensors
|
||||
for (i=0; i<nsensor; i++) {
|
||||
for (int i=0; i<nsensor; i++) {
|
||||
sensors[i]->cutoff = (double)m->sensor_cutoff[i];
|
||||
sensors[i]->noise = (double)m->sensor_noise[i];
|
||||
|
||||
@@ -3102,21 +3084,21 @@ bool mjCModel::CopyBack(const mjModel* m) {
|
||||
}
|
||||
|
||||
// numeric data
|
||||
for (i=0; i<nnumeric; i++) {
|
||||
for (j=0; j<m->numeric_size[i]; j++) {
|
||||
for (int i=0; i<nnumeric; i++) {
|
||||
for (int j=0; j<m->numeric_size[i]; j++) {
|
||||
numerics[i]->data[j] = (double)m->numeric_data[m->numeric_adr[i]+j];
|
||||
}
|
||||
}
|
||||
|
||||
// tuple data
|
||||
for (i=0; i<ntuple; i++) {
|
||||
for (j=0; j<m->tuple_size[i]; j++) {
|
||||
for (int i=0; i<ntuple; i++) {
|
||||
for (int j=0; j<m->tuple_size[i]; j++) {
|
||||
tuples[i]->objprm[j] = (double)m->tuple_objprm[m->tuple_adr[i]+j];
|
||||
}
|
||||
}
|
||||
|
||||
// keyframes
|
||||
for (i=0; i<m->nkey; i++) {
|
||||
for (int i=0; i<m->nkey; i++) {
|
||||
mjCKey* pk = keys[i];
|
||||
|
||||
pk->time = (double)m->key_time[i];
|
||||
|
||||
Reference in New Issue
Block a user