chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mjmPair to C API.

Browse Source 
PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
This commit is contained in:
Alessio Quaglino
2024-02-12 09:24:39 -08:00
committed by Copybara-Service
parent 72cf304e2b
commit 13d6eeacdd
8 changed files with 137 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+9 -9
View File
@@ -523,19 +523,19 @@ void mjXWriter::OnePair(XMLElement* elem, mjCPair* ppair, mjCDef* def) {
// regular
if (!writingdefaults) {
WriteAttrTxt(elem, "class", ppair->classname);
WriteAttrTxt(elem, "geom1", ppair->geomname1);
WriteAttrTxt(elem, "geom2", ppair->geomname2);
WriteAttrTxt(elem, "geom1", ppair->get_geomname1());
WriteAttrTxt(elem, "geom2", ppair->get_geomname2());
}
// defaults and regular
WriteAttrTxt(elem, "name", ppair->name);
WriteAttrInt(elem, "condim", ppair->condim, def->pair.condim);
WriteAttr(elem, "margin", 1, &ppair->margin, &def->pair.margin);
WriteAttr(elem, "gap", 1, &ppair->gap, &def->pair.gap);
WriteAttr(elem, "solref", mjNREF, ppair->solref, def->pair.solref);
WriteAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, def->pair.solreffriction);
WriteAttr(elem, "solimp", mjNIMP, ppair->solimp, def->pair.solimp);
WriteAttr(elem, "friction", 5, ppair->friction, def->pair.friction);
WriteAttrInt(elem, "condim", ppair->condim, def->pair.spec.condim);
WriteAttr(elem, "margin", 1, &ppair->margin, &def->pair.spec.margin);
WriteAttr(elem, "gap", 1, &ppair->gap, &def->pair.spec.gap);
WriteAttr(elem, "solref", mjNREF, ppair->solref, def->pair.spec.solref);
WriteAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, def->pair.spec.solreffriction);
WriteAttr(elem, "solimp", mjNIMP, ppair->solimp, def->pair.spec.solimp);
WriteAttr(elem, "friction", 5, ppair->friction, def->pair.spec.friction);
}