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Remember compiler options during attach.

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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
This commit is contained in:
Alessio Quaglino
2024-10-24 08:29:03 -07:00
committed by Copybara-Service
parent 1043633cc3
commit 159f23e6b4
24 changed files with 302 additions and 204 deletions
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introspect/structs.py
+48 -36
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@@ -8800,25 +8800,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
),
)),
('mjSpec',
('mjsCompiler',
StructDecl(
name='mjSpec',
declname='struct mjSpec_',
name='mjsCompiler',
declname='struct mjsCompiler_',
fields=(
StructFieldDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
doc='element type',
),
StructFieldDecl(
name='modelname',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='model name',
),
StructFieldDecl(
name='autolimits',
type=ValueType(name='mjtByte'),
@@ -8844,11 +8830,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtByte'),
doc='automatically impose A + B >= C rule',
),
StructFieldDecl(
name='strippath',
type=ValueType(name='mjtByte'),
doc='automatically strip paths from mesh files',
),
StructFieldDecl(
name='fitaabb',
type=ValueType(name='mjtByte'),
@@ -8867,20 +8848,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='sequence for euler rotations',
),
StructFieldDecl(
name='meshdir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='mesh and hfield directory',
),
StructFieldDecl(
name='texturedir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='texture directory',
),
StructFieldDecl(
name='discardvisual',
type=ValueType(name='mjtByte'),
@@ -8924,6 +8891,51 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjLROpt'),
doc='options for lengthrange computation',
),
),
)),
('mjSpec',
StructDecl(
name='mjSpec',
declname='struct mjSpec_',
fields=(
StructFieldDecl(
name='element',
type=PointerType(
inner_type=ValueType(name='mjsElement'),
),
doc='element type',
),
StructFieldDecl(
name='modelname',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='model name',
),
StructFieldDecl(
name='compiler',
type=ValueType(name='mjsCompiler'),
doc='compiler options',
),
StructFieldDecl(
name='strippath',
type=ValueType(name='mjtByte'),
doc='automatically strip paths from mesh files',
),
StructFieldDecl(
name='meshdir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='mesh and hfield directory',
),
StructFieldDecl(
name='texturedir',
type=PointerType(
inner_type=ValueType(name='mjString'),
),
doc='texture directory',
),
StructFieldDecl(
name='option',
type=ValueType(name='mjOption'),