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Encapsulate mjCModel internal lists.

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PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
This commit is contained in:
Kyle Bayes
2024-05-08 05:01:13 -07:00
committed by Copybara-Service
parent 96844db926
commit 13bf9ae6bd
9 changed files with 809 additions and 821 deletions
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src/user/user_mesh.cc
+5 -5
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@@ -151,7 +151,7 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
// set model, def
model = _model;
def = (_def ? _def : (_model ? _model->defaults[0] : 0));
def = (_def ? _def : (_model ? _model->Defaults()[0] : 0));
// in case this body is not compiled
CopyFromSpec();
@@ -2560,12 +2560,12 @@ void mjCFlex::Compile(const mjVFS* vfs) {
for (int i=0; i < nvert; i++) {
// get body id, set vertxpos = body.xpos0
int b = rigid ? vertbodyid[0] : vertbodyid[i];
mju_copy3(vertxpos.data()+3*i, model->bodies[b]->xpos0);
mju_copy3(vertxpos.data()+3*i, model->Bodies()[b]->xpos0);
// add vertex offset within body if not centered
if (!centered) {
mjtNum offset[3];
mju_rotVecQuat(offset, vert_.data()+3*i, model->bodies[b]->xquat0);
mju_rotVecQuat(offset, vert_.data()+3*i, model->Bodies()[b]->xquat0);
mju_addTo3(vertxpos.data()+3*i, offset);
}
}
@@ -2631,9 +2631,9 @@ void mjCFlex::Compile(const mjVFS* vfs) {
mjXUtil::Vector2String(useredge, edgeidx);
for (const auto& vbodyid : vertbodyid) {
if (model->bodies[vbodyid]->plugin.instance) {
if (model->Bodies()[vbodyid]->plugin.instance) {
mjCPlugin* plugin_instance =
static_cast<mjCPlugin*>(model->bodies[vbodyid]->plugin.instance);
static_cast<mjCPlugin*>(model->Bodies()[vbodyid]->plugin.instance);
plugin_instance->config_attribs["face"] = userface;
plugin_instance->config_attribs["edge"] = useredge;
}