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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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src/user/user_api.cc
+9 -2
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@@ -69,7 +69,13 @@ mjSpec* mj_makeSpec() {
// copy model
mjSpec* mj_copySpec(const mjSpec* s) {
mjCModel* modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
mjCModel* modelC = nullptr;
try {
modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
} catch (mjCError& e) {
mju_error("Failed to copy spec: %s", e.message);
return nullptr;
}
return &modelC->spec;
}
@@ -177,7 +183,8 @@ mjsBody* mjs_attachToSite(mjsSite* parent, const mjsBody* child,
frame->spec.quat[1] = site->spec.quat[1];
frame->spec.quat[2] = site->spec.quat[2];
frame->spec.quat[3] = site->spec.quat[3];
mjs_resolveOrientation(frame->spec.quat, spec->degree, spec->eulerseq, &site->spec.alt);
mjs_resolveOrientation(frame->spec.quat, spec->compiler.degree,
spec->compiler.eulerseq, &site->spec.alt);
return mjs_attachBody(&frame->spec, child, prefix, suffix);
}